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.
From Industry 4.0 to Construction 4.0: Barriers to the digital transformation of engineering and construc- tion sectors,
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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.