Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen
| dc.contributor.author | Römer, Ulrich Johannes | * |
| dc.date.accessioned | 2021-02-12T06:46:29Z | |
| dc.date.available | 2021-02-12T06:46:29Z | |
| dc.date.issued | 2019 | * |
| dc.date.submitted | 2019-07-30 20:02:01 | * |
| dc.identifier | 35301 | * |
| dc.identifier.issn | 16143914 | * |
| dc.identifier.uri | https://directory.doabooks.org/handle/20.500.12854/61447 | |
| dc.description.abstract | 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. | * |
| dc.language | German | * |
| dc.relation.ispartofseries | Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie | * |
| dc.subject | T1-995 | * |
| dc.subject.classification | thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues | en_US |
| dc.subject.other | Optimierung | * |
| dc.subject.other | optimization | * |
| dc.subject.other | walking | * |
| dc.subject.other | Regelung | * |
| dc.subject.other | robotics | * |
| dc.subject.other | Biomechanik | * |
| dc.subject.other | control | * |
| dc.subject.other | Gehen | * |
| dc.subject.other | biomechanics | * |
| dc.subject.other | Robotik | * |
| dc.title | Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen | * |
| dc.type | book | |
| oapen.identifier.doi | 10.5445/KSP/1000089994 | * |
| oapen.relation.isPublishedBy | 68fffc18-8f7b-44fa-ac7e-0b7d7d979bd2 | * |
| oapen.relation.isbn | 9783731508878 | * |
| oapen.pages | X, 292 p. | * |
| oapen.volume | 34 | * |
| peerreview.review.type | Full text | |
| peerreview.anonymity | All identities known | |
| peerreview.reviewer.type | Editorial board member | |
| peerreview.reviewer.type | External peer reviewer | |
| peerreview.review.stage | Pre-publication | |
| peerreview.open.review | No | |
| peerreview.publish.responsibility | Books or series editor | |
| peerreview.id | 51a542ec-eaeb-47c2-861d-6022e981a97a | |
| peerreview.title | Dissertations in Series (Dissertationen in Schriftenreihe) |
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