A Lagrangian dynamic model plus genetic algorithm optimizes leg segment dimensions, cutting swing-phase peak torques and energy consumption by 20 to 28 percent in simulation.
Optimal synthesis of walking robot leg,
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Dynamic Modeling and Dimensional Optimization of Legged Mechanisms for Construction Robot
A Lagrangian dynamic model plus genetic algorithm optimizes leg segment dimensions, cutting swing-phase peak torques and energy consumption by 20 to 28 percent in simulation.