Energy-optimal design of walking machines

DOI10.1007/S11044-005-4068-4MaRDI QIDQ812993zbMATH OpenOpenAlexFDO

Authors W. Schiehlen

Publication date 30 January 2006

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

Full work available at URL https://doi.org/10.1007/s11044-005-4068-4

zbMATH Keywords

inverse dynamics controlbiped machine

Mathematics Subject Classification ID

Numerical optimization and variational techniques (65K10) Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60)

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Cites work

• scientific article; zbMATH DE number 45268 (Why is no real title available?)
• scientific article; zbMATH DE number 1827932 (Why is no real title available?)
• Ballistic walking: an improved model
• Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
• Legged robots
• Modelling and control of robot manipulators.
• Multibody system dynamics: roots and perspectives

Cited in

(16)

• Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose
• Bipedal walking gait generation based on the sequential method of analytical potential (SMAP)
• Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots
• Energy-efficacy comparisons and multibody dynamics analyses of legged robots with different closed-loop mechanisms
• Task-level approaches for the control of constrained multibody systems
• Modeling and control for efficient bipedal walking robots. A port-based approach
• Dynamic modeling, stability, and energy efficiency of a quadrupedal walking machine
• scientific article; zbMATH DE number 1413859 (Why is no real title available?)
• Power aspects of rheonomic multibody systems
• Energy efficient walking with central pattern generators: From passive dynamic walking to biologically inspired control
• Dynamics and energetics of a class of bipedal walking systems
• Energy profile and the open-loop control of the translational motion of the walking machine Cyclone
• scientific article; zbMATH DE number 4145407 (Why is no real title available?)
• Optimization of a leg design
• Modeling and stability analysis of controlled passive walking
• Walking of biped with passive exoskeleton: evaluation of energy consumption

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