Actions for Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen

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Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen

Published
KIT Scientific Publishing 2014
Physical Description
1 online resource (XV, 166 p. p.)
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Language Note
German
Restrictions on Access
Open Access Unrestricted online access
Summary
This work investigates the optimization of bipedal robots’ energy efficiency by using elastic couplings. The regarded robots are modeled as underactuated systems and controlled by input-output linearization. To investigate the influence of elastic couplings on energy efficiency as well as stability and robustness the movements of the robots as well as their elastic couplings are simultaneously optimized using numerical algorithms.
Subject(s)
Other Subject(s)
ISBN
9783731502562
KSP/1000042846
Collection
DOAB Library.
Terms of Use and Reproduction
Creative Commons https://creativecommons.org/licenses/by-sa/4.0/
View MARC record | catkey: 33184570