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978-3-8439-0154-3, Reihe Robotik und Automation

Daniela Förg
Energy and Stability Considerations for Biped Robots with Passive Elements

127 Seiten, Dissertation Technische Universität München (2011), Softcover, A5

Zusammenfassung / Abstract

The goal of this thesis is to investigate the influence of passive and elastic elements on technical bipedal locomotion. Therefore two multibody models are investigated: the first one inspired by limit cycle walkers and the second one based on classical humanoid robots.

For both models an optimal set of parameters is determined using numerical optimisation. The resulting system behaviour is investigated in terms of energy and stability.