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• W4313562948 abstract "This work focuses on the energy efficient control of a planar bipedal robot by using elastic elements in the joints for short-term energy storage. The considered biped exhibits three degrees of freedom per leg and each joint is equipped with a series-elastic actuator (SEA). A controller is developed to enable point foot hopping based on the spring loaded inverted pendulum template. The control design was split into the high-level rigid-body and the elastic dynamics and is validated for hopping motions by numerical simulations. A high -level reference design is proposed, which enables that the elastic system can outperform the corresponding rigid counterpart with regard to energy efficiency in stance phase by more than 50 percent." @default.
• W4313562948 created "2023-01-06" @default.
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• W4313562948 date "2022-11-28" @default.
• W4313562948 modified "2023-10-16" @default.
• W4313562948 title "Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions" @default.
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• W4313562948 doi "https://doi.org/10.1109/humanoids53995.2022.10000146" @default.
• W4313562948 hasPublicationYear "2022" @default.
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