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Please use this identifier to cite or link to this item: http://hdl.handle.net/10198/1913

Título: A passive system approach to increase the energy efficiency in walk movements based in a realistic simulation environment
Autor: Lima, José
Gonçalves, José
Costa, Paulo
Moreira, António
Palavras-chave: Humanoid
Simulation
Optimization
Issue Date: 2009
Citação: Lima, José; Gonçalves, José; Costa, Paulo; Moreira, António (2009) - A passive system approach to increase the energy efficiency in walk movements based in a realistic simulation environment. In 9th Conference on Autonomous Robot Systems and Competitions. Castelo Branco.
Resumo: This paper presents a passive system that increases the walk energy efficiency of a Humanoid robot. A passive system is applied to the simulated robot allowing the energy consumption to be reduced. The optimal parameters for the passive system depend on the joint and gait trajectories. Final results prove the benefits of the presented system apply. It was optimized thanks to a realistic simulator where the humanoid robot was modeled. The model was validated against a real robot.
URI: http://hdl.handle.net/10198/1913
Appears in Collections:DE - Artigos em Proceedings Não Indexados ao ISI/Scopus

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