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Published at November 27Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring
cs.RO
Released Date: November 27, 2024
Authors: Danil Belov1, Artem Erkhov1, Farit Khabibullin2, Elisaveta Pestova1, Sergei Satsevich1, Ilya Osokin1, Pavel Osinenko1, Dzmitry Tsetserukou1
Aff.: 1Institution 1; 2Institution 2

| m | A | |||||||
|---|---|---|---|---|---|---|---|---|
| 4.1 | 1.88 | 0.05 | 0.2 | 2285.9 | 14.2 | 8.54 | -2.23 | 0.7% |
| 4.1 | 1.88 | 0.08 | 0.2 | 2114.2 | 30.2 | 8.77 | -2.15 | 1.4% |
| 4.1 | 1.88 | 0.05 | 0.15 | 2627.1 | 103.1 | 7.05 | -2.52 | 3.9% |
| 8.1 | 1.88 | 0.05 | 0.2 | 6813.9 | 44.1 | 13.78 | -2.28 | 0.6% |
| 4.1 | 0.94 | 0.05 | 0.2 | 2365.2 | 44.7 | 17.1 | -1.4 | 1.9% |
| 4.1 | 3.77 | 0.05 | 0.2 | 4193.6 | 6.4 | 6.07 | -2.84 | 0.15% |