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Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

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Book Series: Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie ISSN: 16143914 ISBN: 9783731508878 Year: Volume: 34 Pages: X, 292 p. DOI: 10.5445/KSP/1000089994 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:02:01
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The influence of foot geometry on energy efficiency in bipedal walking is investigated. A method for the optimization of the foot geometry of a bipedal robot is developed. It is based on a planar model with arbitrary convex foot geometry in combination with a hybrid zero dynamics based controller. Optimal gaits and foot geometries are determined. The average energy consumption can be reduced by more than 80% compared to a model with point feet.

Ein neues Konzept für die geberlose Regelung von Permanentmagnet-Synchronmaschinen für Hybrid- und Elektrofahrzeuge

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ISBN: 9783731508625 Year: Pages: VII, 160 p. DOI: 10.5445/KSP/1000087356 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:02:02
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With the current state of the art angle sensors are used for the operation of permanent magnet synchronous machines in electric and hybrid vehicles. In the present work, a new concept for sensorless control is proposed. The robust operation could be proven with new and further developed sensorless procedures on the machine test bench. The operating range of sensorless control could be significantly increased with the presented methods.

Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

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Book Series: Karlsruhe Series on Humanoid Robotics ISSN: 25120875 ISBN: 9783731509035 Year: Volume: 5 Pages: X, 235 p. DOI: 10.5445/KSP/1000091605 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:01:57
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Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.

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2019 (3)