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Energy-optimized bipedal running of a simple humanoid robot

Römer, Ulrich; Fidlin, Alexander

Abstract:
A method to optimize energy efficiency for bipedal running robots is presented. A running model of a simple bipedal robot consisting of five rigid bodies connected by actuated revolute joints is introduced. The actuators’ torques are generated by a trajectory tracking controller to produce periodic running gaits. The controller’s reference trajectories are parameterized by Bézier polynomials. A numerical optimization is used to employ reference trajectories with optimal energy efficiency for average velocities in the range of 1.5 to 5.5 m/s.



Originalveröffentlichung
DOI: 10.1002/pamm.201410028
Zugehörige Institution(en) am KIT Institut für Technische Mechanik (ITM)
Publikationstyp Zeitschriftenaufsatz
Jahr 2014
Sprache Englisch
Identifikator ISSN: 1617-7061
KITopen-ID: 1000090459
Erschienen in Proceedings in applied mathematics and mechanics
Band 14
Heft 1
Seiten 81-82
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