Optimization of Mass and Stiffness Distribution for Efficient Bipedal Walking

V. Duindam; Stefano Stramigioli

Optimization of Mass and Stiffness Distribution for Efficient Bipedal Walking

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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.

Original language	Undefined
Title of host publication	2005 International Symposium on Nonlinear Theory and its Applications
Place of Publication	Tokyo, JAPAN
Publisher	NOLTA Society
Pages	481-484
Number of pages	4
ISBN (Print)	4-88552-215-3
Publication status	Published - 2005
Event	2005 International Symposium on Nonlinear Theory and its Applications, NOLTA - Bruges, Belgium Duration: 18 Oct 2005 → 21 Oct 2005

Publication series

Name
Publisher	NOLTA
Number	1

Workshop

Workshop	2005 International Symposium on Nonlinear Theory and its Applications, NOLTA
Country/Territory	Belgium
City	Bruges
Period	18/10/05 → 21/10/05

Keywords

CE-Advanced Robotics
IR-62288
METIS-248166
EWI-12684

Access to Document

Cite this

@inproceedings{2a10e9fd20474df599eb31afe7c60b20,

title = "Optimization of Mass and Stiffness Distribution for Efficient Bipedal Walking",

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.",

keywords = "CE-Advanced Robotics, IR-62288, METIS-248166, EWI-12684",

author = "V. Duindam and Stefano Stramigioli",

note = "http://www.oishi.info.waseda.ac.jp/NOLTA2005/; 2005 International Symposium on Nonlinear Theory and its Applications, NOLTA ; Conference date: 18-10-2005 Through 21-10-2005",

year = "2005",

language = "Undefined",

isbn = "4-88552-215-3",

publisher = "NOLTA Society",

number = "1",

pages = "481--484",

booktitle = "2005 International Symposium on Nonlinear Theory and its Applications",

address = "Japan",

}

Duindam, V & Stramigioli, S 2005, Optimization of Mass and Stiffness Distribution for Efficient Bipedal Walking. in 2005 International Symposium on Nonlinear Theory and its Applications. NOLTA Society, Tokyo, JAPAN, pp. 481-484, 2005 International Symposium on Nonlinear Theory and its Applications, NOLTA, Bruges, Belgium, 18/10/05. <http://eprints.eemcs.utwente.nl/secure2/12684/01/nolta2005.pdf>

TY - GEN

T1 - Optimization of Mass and Stiffness Distribution for Efficient Bipedal Walking

AU - Duindam, V.

AU - Stramigioli, Stefano

N1 - http://www.oishi.info.waseda.ac.jp/NOLTA2005/

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

KW - CE-Advanced Robotics

KW - IR-62288

KW - METIS-248166

KW - EWI-12684

M3 - Conference contribution

SN - 4-88552-215-3

SP - 481

EP - 484

BT - 2005 International Symposium on Nonlinear Theory and its Applications

PB - NOLTA Society

CY - Tokyo, JAPAN

T2 - 2005 International Symposium on Nonlinear Theory and its Applications, NOLTA

Y2 - 18 October 2005 through 21 October 2005

ER -