Compliance in gait synthesis: Effects on energy and gait

Scheint, Michael; Sobotka, Marion; Buss, Martin

doi:10.1109/ichr.2008.4755955

Cited by 15 publications

(14 citation statements)

References 10 publications

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“…For the aim of reducing actuator effort, simultaneous optimization of motion and spring properties has previously been shown to produce the best result [9]. A difficulty in motion optimization occurs in the contact phase, since the constrained end-effector motion results in a reduction of degrees of freedom.…”

Section: Trajectory Optimizationmentioning

confidence: 99%

“…For the goal of making bipedal walking robots more efficient, springs reduce the required actuator input [7], [8], [9] substantially in simulations based on optimization of both walking motion and compliance. In [10], the simultaneous optimization of gait and a parallel ankle spring for a biped model not only leads to a more efficient gait but also to a more human-like gait.…”

Section: Introductionmentioning

confidence: 99%

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Optimized parallel joint springs in dynamic motion: Comparison of simulation and experiment

Scheint

Sobotka

Buss

2010

2010 3rd IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics

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Inspired by human tendon function, parallel springs in the joints of bipedal walking robots allow for a significant reduction of the cost of locomotion in simulation. An experimental setup is presented here which enables to verify the simulation results. The beneficial effects of parallel springs are investigated for a four-link robot arm equipped with a parallel spring at the last link. The desired motion results from simultaneous optimization of spring properties and motion which was shown to achieve the best reduction of actuation effort. Spring utilization is considered for two types of motion, free space motion and motion including contact with the environment at the end-effector. It is shown that the absolute reduction of effort through the utilization of an optimal spring is independent of friction. Hence, influence of the spring on effort is more relevant at higher speeds where the motion itself requires more actuation effort. Furthermore, for motion with environmental contact, a spring can reduce actuation effort more than in free space motion, especially for stiffer environments.

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Section: Trajectory Optimizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimized parallel joint springs in dynamic motion: Comparison of simulation and experiment

Scheint

Sobotka

Buss

2010

2010 3rd IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics

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“…Some control strategies need stable reference trajectories to ensure the gait of the robot. The parametrization of the trajectories can be done by polynomial functions [8], Bézier functions [6], [9], Fourier series functions [10] or cubic splines [1]. Here, we use the cubic splines to parameterize the trajectories.…”

Section: A Design Improvementmentioning

confidence: 99%

Influence of frictions on gait optimization of a biped robot with an anthropomorphic knee

Hobon

Elyaaqoubi

Abba

2013

2013 9th Asian Control Conference (ASCC)

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is an open access repository that collects the work of Arts et Métiers ParisTech researchers and makes it freely available over the web where possible. Abstract-This paper presents the energy consumption of a biped robot with a new modeled structure of knees which is called rolling knee (RK). The dynamic model, the actuators and the friction coefficients of the gear box are known. The optimal energy consumption can also be calculated. The first part of the paper is to validate the new kinematic knee on a biped robot by comparing the energy consumption during a walking step of the identical biped but with revolute joint knees . The cyclic gait is given by a succession of Single Support Phase (SSP) followed by an impact. The gait trajectories are parameterized by cubic spline functions. The energetic criterion is minimized through optimization while using the simplex algorithm and Lagrange penalty functions to meet the constraints of stability and deflection of the mobile foot. An analysis of the friction coefficients is done by simulation to compare the human characteristics to the robot with RK. The simulation results show an energy consumption reduction through the biped with rolling knee configuration. The influence of friction coefficients shows the energy consumption of biped robot is close to that of the human.

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“…They look like a human having two legs, torso and hands, although several types of bipedal robots may model only part of the body. For example, most of the active dynamic walking bipeds in research laboratories have only two legs and a torso [20], [21], [7]. The number of humanoid robots having arms, head and feet are increasing and researchers are concentrating on the energetic effects of arms, feet and compliance in the walking gaits by adding springs to the bipeds.…”

Section: Introductionmentioning

confidence: 99%

“…The number of humanoid robots having arms, head and feet are increasing and researchers are concentrating on the energetic effects of arms, feet and compliance in the walking gaits by adding springs to the bipeds. Most of the researchers including [6], [19], [20], [17] are motivated by the hypothesis that bipeds with compliant ankles may be able to exhibit more natural-looking gaits with better energetic efficiency and walking stability as compared to bipeds without compliant joints. Several researchers studied that the design of the knee joint can help to improve the walking efficiency [10] and others concentrated on the addition of passive elastic members in the knee and hip joints.…”

Section: Introductionmentioning

confidence: 99%

Effects of knee locking and passive joint stiffness on energy consumption of a seven-link planar biped

Haq¹,

Aoustin²,

Chevallereau³

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-Energetic efficiency and stability are the fundamental criteria which can improve the autonomy and task performance capabilities of humanoid robots. The scope of this paper is to investigate the energetic effects of knee locking and addition of torsional springs to different joints of a sevenlink fully actuated planar bipedal robot. The focus is on the reduction of energy consumption during walking. The energetic cost of walking is determined without joint stiffness and knee locking as a baseline for the comparison of results. In the first approach, the gait trajectory is optimized by adding springs to different joints and energetic cost of walk is then calculated at different walking speeds. The second approach presented in this paper is to mechanically lock the support knee and then optimize the gait and calculate the walking cost. The energetic cost of walking determined for the above two cases is then compared to the baseline cost. It is observed that addition of torsional springs at both hips reduce the walking cost up to 50%, support hip up to 85% with spring stiffness as an optimization variable for both cases while mechanically locking the support knee reduces the cost of walking up to 25% with gait and knee locking angle optimized.

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Compliance in gait synthesis: Effects on energy and gait

Cited by 15 publications

References 10 publications

Optimized parallel joint springs in dynamic motion: Comparison of simulation and experiment

Optimized parallel joint springs in dynamic motion: Comparison of simulation and experiment

Influence of frictions on gait optimization of a biped robot with an anthropomorphic knee

Effects of knee locking and passive joint stiffness on energy consumption of a seven-link planar biped

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