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.

Full text not available from this repository. The author is invited to upload the full text of this publication.

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
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/62288
Export this item as:	BibTeX EndNote HTML Citation Reference Manager

Show download statistics for this publication

Repository Staff Only: item control page

Metis ID: 248166