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Document type:
Konferenzbeitrag 
Author(s):
Krischer, Lukas; Sureshbabu, Anand Vazhapilli; Zimmermann, Markus 
Title:
Modular Topology Optimization of a Humanoid Arm 
Abstract:
The development of humanoid robots is typically driven by control, kinematics and actuator design, often resulting in unnecessarily heavy structural components. Topology optimization can be used to reduce weight. Unfortunately, topology optimization is numerically expensive for a multi-component robot system that assumes different poses and considers several materials for each segment. This paper proposes a top-down approach where components of the robot are optimized separately. In the first st...    »
 
Keywords:
Topology Optimization, Systems modelling and Simulation, Robot design , modularity 
Book / Congress title:
2020 3rd International Conference on Control and Robots (ICCR) 
Date of congress:
26.12.2020 
Publisher:
IEEE 
Date of publication:
26.12.2020 
Year:
2020 
Quarter:
4. Quartal 
Covered by:
Scopus 
Print-ISBN:
9781728175621 
Semester:
WS 20-21