Design and Intelligent Control of an Energy-efficient Humanoid Robot
نویسندگان
چکیده
This work of thesis deals both with design and intelligent control of a humanoid robot, and its main aim is to develop an energy-efficient and dynamically stable locomotion. In the first part, we present a systematic method to evaluate the energy efficiency of a biped robot. This method is then used to obtain some information about the performance of materials and actuators that could be used for design. Results collected are integrated with the experience of previous works, and finally summarized to suggest some efficient configurations. These indications are meant to be used for future developments of LARP, the humanoid robot of the AIRLab, Politecnico di Milano. The
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