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Drei Fortbewegungsarten (traben, gehen und kurbettieren) werden gew\u00e4hlt, f\u00fcr die die optimalen Referenzbewegungen berechnet werden. Zwei verschiedenen Optimierungskriterien werden untersucht: a) das Minimum der verbrauchten Energie und b) das Minimum der Variation der mechanischen Energie, beide Gr\u00f6\u00dfen pro Meter der Fortbewegungsbahn. Es werden die Gelenkskoordinaten als Polynome vierten Grades angesetzt, deren Koeffizienten die Optimierungsvariablen sind. Um die Optimierungsaufgabe zu vereinfachen, wurden statt der vier Roboterbeine zwei virtuelle Beine definiert, und geeignet gew\u00e4hlte Nebenbedingungen sichern, dass die berechneten Referenzbewegungen realistisch sind. F\u00fcr jede Iteration mu\u00df\\ ein qua\\-dra\\-ti\\-scher Algorithmus aus der Matlab Optimization Toolbox [\\textit{M. A. Branch} und \\textit{A. Grace}, The Math Works, Natick (1999)] herangezogen werden. 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