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Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

Book Series: Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie ISSN: 16143914 ISBN: 9783731508878 Year: Volume: 34 Pages: X, 292 p. DOI: 10.5445/KSP/1000089994 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:02:01

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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.

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