Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs

DOI10.1007/S11071-015-2402-9zbMath1351.70010OpenAlexW2174942959MaRDI QIDQ335468

Alexander Fidlin, Ulrich Römer, Wolfgang Seemann, Fabian Bauer

Publication date: 2 November 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://publikationen.bibliothek.kit.edu/1000060942/3928299

zbMATH Keywords

optimizationnonlinear feedback controldynamic walkingenergy efficiencybipedal robotelastic couplingmechanical spring

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

Modeling, control and analysis of a curved feet compliant biped with HZD approach ⋮ Energy-efficacy comparisons and multibody dynamics analyses of legged robots with different closed-loop mechanisms

Cites Work

• Chattering-free variable structure controller design via fractional calculus approach and its application
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• Passively walking five-link robot
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• Modeling and control for efficient bipedal walking robots. A port-based approach
• Legged robots
• A Simply Stabilized Running Model
• Dynamic Bipedal Walking under Stick-Slip Transitions
• Identification of a Bipedal Robot with a Compliant Drivetrain
• 3D passive walkers: Finding periodic gaits in the presence of discontinuities

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