Optimization of Mass and Stiffness Distribution for Efficient Bipedal Walking

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    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 languageUndefined
    Title of host publication2005 International Symposium on Nonlinear Theory and its Applications
    Place of PublicationTokyo, JAPAN
    PublisherNOLTA Society
    Pages481-484
    Number of pages4
    ISBN (Print)4-88552-215-3
    Publication statusPublished - 2005
    Event2005 International Symposium on Nonlinear Theory and its Applications, NOLTA - Bruges, Belgium
    Duration: 18 Oct 200521 Oct 2005

    Publication series

    Name
    PublisherNOLTA
    Number1

    Workshop

    Workshop2005 International Symposium on Nonlinear Theory and its Applications, NOLTA
    CountryBelgium
    CityBruges
    Period18/10/0521/10/05

    Keywords

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

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