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• W2132601076 abstract "It presents a method of multi-objective optimization, applied to energy consumption of open kinematic chains, analyzing the case of the movement of an extremity of a walking electro- hydraulic robot. To demonstrate the effectiveness of the proposed method, it is applied in two cases of displacement. The first case shows the movement of the extremity without obstacles in its workspace and the second includes the evasion of an obstacle. The minimization of angular displacement of the links with higher energy consumption and the minimization of the maximum absolute value of the angular acceleration of the links are used as optimization criteria. In both cases a trajectory that reduces energy consumption by more than 25% over the other methods proposed in the literature, at the same time the dynamic behavior of the system by avoiding variations in the speed and the acceleration is improved during the phase of transference, besides increasing the precision and accuracy of the foot position." @default.
• W2132601076 created "2016-06-24" @default.
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• W2132601076 date "2015-07-01" @default.
• W2132601076 modified "2023-10-16" @default.
• W2132601076 title "Optimización de la Energía Consumida por las Extremidades de un Robot Caminante" @default.
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• W2132601076 doi "https://doi.org/10.1016/j.riai.2015.02.008" @default.
• W2132601076 hasPublicationYear "2015" @default.
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