Kurowski, Stefan (2016):
A Systematic Approach to the Design of Embodiment with Application to Bio-Inspired Compliant Legged Robots.
Darmstadt, Technische Universität Darmstadt,
[Ph.D. Thesis]
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Item Type: | Ph.D. Thesis | ||||
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Title: | A Systematic Approach to the Design of Embodiment with Application to Bio-Inspired Compliant Legged Robots | ||||
Language: | English | ||||
Abstract: | Bio-inspired legged robots with compliant actuation can potentially achieve motion properties in real world scenarios which are superior to conventionally actuated robots. In this thesis, a methodology is presented to systematically design and tailor passive and active control elements for elastically actuated robots. It is based on a formal specification of requirements derived from the main design principles for embodied agents as proposed by Pfeifer et al. which are transfered to dynamic model based multi objective optimization problems. The proposed approach is demonstrated and applied for the design of a biomechanically inspired, musculoskeletal bipedal robot to achieve walking and human-like jogging. |
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Place of Publication: | Darmstadt | ||||
Classification DDC: | 000 Allgemeines, Informatik, Informationswissenschaft > 004 Informatik 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften |
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Divisions: | 20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group | ||||
Date Deposited: | 03 Feb 2016 10:42 | ||||
Last Modified: | 09 Jul 2020 01:05 | ||||
URN: | urn:nbn:de:tuda-tuprints-49471 | ||||
Referees: | von Stryk, Prof. Dr. Oskar ; Rinderknecht, Prof. Dr. Stephan | ||||
Date of oral examination: | 6 August 2015 | ||||
URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/4947 | ||||
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