Optimization of Mass and Stiffness Distribution for Efficient Bipedal Walking


Duindam, V. and Stramigioli, S. (2005) Optimization of Mass and Stiffness Distribution for Efficient Bipedal Walking. In: 2005 International Symposium on Nonlinear Theory and its Applications, 18-21 October 2005, Bruges.

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Abstract:Energy-efficient control of bipedal walking
robots requires both minimization of mechanical energy
losses (often mainly due to impacts) and the use of natural
oscillations in a mechanism to minimize actuator torques
(as shown by research on passive dynamic walking). In
this paper, we discuss how these aspects can be analyzed
and optimized using mathematical models of the dynamics,
as opposed to using only engineering intuition and experimental
results. We use a simple planar three-link robot as
an example to illustrate the ideas.
Item Type:Conference or Workshop Item
Additional information:http://www.oishi.info.waseda.ac.jp/NOLTA2005/
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/62288
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