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Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots
2016
Multibody system dynamics
This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 80 % in a speed range from 0.3 to 2.3 m/s using elastic couplings -mechanical springs with movement speed independent parameters. The considered planar robot consists of a trunk, two two-segmented legs, two actuators in the hip joints, two actuators in the knee joints and an elastic coupling between the shanks. It is modeled as underactuated system to make use of its natural dynamics and
doi:10.1007/s11044-016-9509-8
fatcat:wltkjm4zczbsnmeqccowyc5p2e