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The Influence of ground inclination on the energy efficiency of a bipedal walking robot

Luo, Yinnan; Römer, Ulrich J. ORCID iD icon; Fidlin, Alexander

Abstract (englisch):
One of the major tasks in developing bipedal walking robots is to improve energy efficiency of their locomotion. In this paper a method for extending this research by considering ground inclinations is introduced. The investigated robot is driven by electric motors in its revolute joints. Robot's gaits for different walking speeds are generated via numerical optimization, minimizing energy consumption during locomotion. Energy efficiency can be increased for differently inclined grounds where the robot utilizes its natural dynamics and gravity.


Verlagsausgabe §
DOI: 10.5445/IR/1000129317
Veröffentlicht am 04.02.2021
Originalveröffentlichung
DOI: 10.1002/pamm.202000142
Dimensions
Zitationen: 1
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Technische Mechanik (ITM)
Publikationstyp Zeitschriftenaufsatz
Publikationsmonat/-jahr 01.2021
Sprache Englisch
Identifikator ISSN: 1617-7061, 1617-7061
KITopen-ID: 1000129317
Erschienen in Proceedings in applied mathematics and mechanics
Verlag Wiley-VCH Verlag
Band 20
Heft 1
Seiten e202000142
Projektinformation DFG, DFG EIN, FI 1761/4-1
Bemerkung zur Veröffentlichung Special Issue: 91st Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)
Vorab online veröffentlicht am 25.01.2021
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