UID:
edoccha_9959145942302883
Format:
1 electronic resource (X, 292 p. p.)
ISBN:
1000089994
Series Statement:
Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie
Content:
The influence of foot geometry on energy efficiency in bipedal walking is investigated. A method for the optimization of the foot geometry of a bipedal robot is developed. It is based on a planar model with arbitrary convex foot geometry in combination with a hybrid zero dynamics based controller. Optimal gaits and foot geometries are determined. The average energy consumption can be reduced by more than 80% compared to a model with point feet.
Note:
German
Additional Edition:
ISBN 3-7315-0887-7
Language:
German
