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  • 2010-2014  (1)
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    Energy-optimized bipedal running of a simple humanoid robot (2014)
    Wiley
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    Publication Date: 2014-12-23
    Description: A method to optimize energy efficiency for bipedal running robots is presented. A running model of a simple bipedal robot consisting of five rigid bodies connected by actuated revolute joints is introduced. The actuators' torques are generated by a trajectory tracking controller to produce periodic running gaits. The controller's reference trajectories are parameterized by Bézier polynomials. A numerical optimization is used to employ reference trajectories with optimal energy efficiency for average velocities in the range of 1.5 to 5.5 m/s. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)
    Electronic ISSN: 1617-7061
    Topics: Mathematics , Physics , Technology
    Published by Wiley
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