julia-Software package for bipedal robot running on compliant ground using hybrid zero dynamics controller
Abstract (englisch):
This software package facilitates the simulation and optimization of bipedal running on compliant ground, adhering to the methodology delineated in the manuscript "Study on Bipedal Running on Compliant Ground Using Hybrid Zero Dynamics Controller." The equations of motion and design of the controller are implemented using the Maple software. Numerical analyses and optimization are conducted utilizing the Julia programming language, while the optimization algorithm is sourced from the commercial software Artelys Knitro.
| Zugehörige Institution(en) am KIT | Institut für Technische Mechanik (ITM) |
| Publikationstyp | Forschungsdaten |
| Publikationsdatum | 27.06.2025 |
| Erstellungsdatum | 24.06.2023 - 24.06.2025 |
| Identifikator | DOI: 10.35097/nvzaaubdprqr3vtm KITopen-ID: 1000182580 |
| Lizenz | Creative Commons Namensnennung – Nicht kommerziell – Keine Bearbeitungen 4.0 International |
| Vorab online veröffentlicht am | 24.06.2025 |
| Liesmich | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| Art der Forschungsdaten | Software |
| Nachgewiesen in | OpenAlex |
| Globale Ziele für nachhaltige Entwicklung |