Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots

DOI10.1007/s11044-016-9509-8zbMath1386.70023OpenAlexW2344782550MaRDI QIDQ2361339

Alexander Fidlin, Ulrich Römer, Fabian Bauer, Wolfgang Seemann

Publication date: 30 June 2017

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://publikationen.bibliothek.kit.edu/1000062327/13381606

zbMATH Keywords

optimizationnonlinear feedback controldynamic walkingenergy efficiencybipedal robotelastic coupling

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Energy-optimal design of walking machines
• Ballistic walking: an improved model
• Breaking symmetries and constraints: Transitions from 2D to 3D in passive walkers
• Passively walking five-link robot
• An upper-body can improve the stability and efficiency of passive dynamic walking
• Stability analysis of underactuated compass gait based on linearization of motion
• Legged robots
• A Simply Stabilized Running Model
• Identification of a Bipedal Robot with a Compliant Drivetrain

This page was built for publication: Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots