Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen
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 stab...
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| Fformat: | Online |
| Iaith: | Almaeneg |
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KIT Scientific Publishing
2021
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| Mynediad Ar-lein: | 34407 |
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Dim Tagiau, Byddwch y cyntaf i dagio'r cofnod hwn!
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| _version_ | 1869522718414602240 |
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| author | Bauer, Fabian |
| author_browse | Bauer, Fabian |
| author_facet | Bauer, Fabian |
| author_sort | Bauer, Fabian |
| collection | Directory of Open Access Books |
| description | 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. |
| format | Online |
| id | doab-20.500.12854ir-55320 |
| institution | Directory of Open Access Books |
| language | ger |
| publishDate | 2021 |
| publishDateRange | 2021 |
| publishDateSort | 2021 |
| publisher | KIT Scientific Publishing |
| publisherStr | KIT Scientific Publishing |
| record_format | ojs |
| spelling | doab-20.500.12854ir-553202024-04-09T23:16:46Z Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen Bauer, Fabian T1-995 zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues 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. 2021-02-11T21:45:50Z 2021-02-11T21:45:50Z 2019-07-30 20:01:57 2014 book 34407 16143914 9783731502562 https://directory.doabooks.org/handle/20.500.12854/55320 ger Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie image/jpeg Attribution-ShareAlike 4.0 International https://www.ksp.kit.edu/9783731502562 KIT Scientific Publishing 10.5445/KSP/1000042846 10.5445/KSP/1000042846 68fffc18-8f7b-44fa-ac7e-0b7d7d979bd2 9783731502562 XV, 166 p. open access |
| spellingShingle | T1-995 zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues Bauer, Fabian Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen |
| title | Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen |
| title_full | Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen |
| title_fullStr | Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen |
| title_full_unstemmed | Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen |
| title_short | Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen |
| title_sort | optimierung der energieeffizienz zweibeiniger roboter durch elastische kopplungen |
| topic | T1-995 zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues |
| topic_facet | T1-995 zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues |
| url | 34407 |
| work_keys_str_mv | AT bauerfabian optimierungderenergieeffizienzzweibeinigerroboterdurchelastischekopplungen |