Efficient walking with optimization for a planar biped walker with a torso by hip actuators and springs

Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo

doi:10.1017/s0263574710000354

Cited by 23 publications

(12 citation statements)

References 26 publications

(58 reference statements)

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“…At a speed of v = 2.3 m/s the specific positive mechanical work contributes 81.1 % of the specific cost of transport. This implies that the positive mechanical work e + mech is not negligible and the specific static work e stat , commonly used in optimal control approaches [18,31] is not a suitable objective function, if energy efficiency is considered. The energy input by positive specific mechanical work e + mech is primarily dissipated by the specific impact loss e imp .…”

Section: Reduction Of Cost Of Transportmentioning

confidence: 99%

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Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs

et al. 2015

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This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 50 % in a speed range from 0.3 to 2.3 m/s using elastic couplings -mechanical springs with movement speed independent parameters. The considered robot consists of a trunk, two stiff legs and two actuators in the hip joints. It is modeled as underactuated system to make use of its natural dynamics and feedback controlled with input-output linearization. A numerical optimization of the joint angle trajectories as well as the elastic couplings is performed to minimize the average energy expenditure over the whole speed range. The elastic couplings increase the swing leg motion's natural frequency thus making smaller steps more efficient which reduce the impact loss at the touchdown of the swing leg. The process of energy turnover is investigated for the robot with and without elastic couplings. Furthermore, the influence of the elastic couplings' topology, its degree of nonlinearity, the mass distribution, the joint friction, the coefficient of static friction and the selected actuator is analyzed. It is shown that the optimization of the robot's motion and elastic coupling towards energy efficiency leads to a slightly slower convergence rate of the controller, yet no loss of stability and a lower sensitivity with respect to disturbances. The optimal elastic coupling discovered by the numerical optimization is a linear torsion spring between the legs.

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Section: Reduction Of Cost Of Transportmentioning

confidence: 99%

“…A big step towards an energy efficient and versatile robot was made by enhancing this model with actuation in the hips [18,31]. Stiffness and resting length of hip springs were optimized together with the robot's motion.…”

Section: Introductionmentioning

confidence: 99%

Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs

et al. 2015

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show abstract

“…A big step towards an energy efficient and versatile robot was made by enhancing this model with actuation in the hips [18,32]. Stiffness and resting length of hip springs were optimized together with the robot's motion.…”

Section: Introductionmentioning

confidence: 99%

Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots

et al. 2016

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This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 80 % in a speed range from 0.3 to 2.3 m/s using elastic couplings-mechanical springs with movement speed independent parameters. The considered planar robot consists of a trunk, two two-segmented legs, two actuators in the hip joints, two actuators in the knee joints and an elastic coupling between the shanks. It is modeled as underactuated system to make use of its natural dynamics and feedback controlled via input-output linearization. A numerical optimization of the joint angle trajectories as well as the elastic couplings is performed to minimize the average energy expenditure over the whole speed range. The elastic couplings increase the swing leg motion's natural frequency thus making smaller steps more efficient which reduce the impact loss at the touchdown of the swing leg. The process of energy turnover is investigated in detail for the robot with and without elastic coupling between the shanks. Furthermore, the influences of the elastic couplings' topology and of joint friction are analyzed. It is shown that the optimization of the robot's motion and elastic coupling towards energy efficiency leads to a slightly slower convergence rate of the controller, yet no loss of stability but a lower sensitivity with respect to disturbances. The optimal elastic coupling discovered via numerical optimization is a linear torsion spring with transmissions between the shanks. A design proposal for this elastic coupling-which does not affect the robot's trunk and parallel shank motion and can be used to enhance an existing robot-is given for planar as well as spatial robots.

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“…Some works of the walking gaits were based on developing the passive dynamics walking and using other methods such as central pattern generator (CPG) [10]. Also, Narukawa et al [11] focused on the use of passive dynamics to achieve efficiently walking with simple mechanisms by using a numerical approach. On the other hand, several researchers consider gait generation as a multiconstrained, multiobjective optimization problem.…”

Section: Introductionmentioning

confidence: 99%

A Gait Generation for Biped Robot Based on Artificial Neural Network and Improved Self-Adaptive Differential Evolution Algorithm

Nguyen¹,

Bui²,

Hasegawa³

2016

IJMLC

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Gait generation is very important as it directly effects on the quality of locomotion of biped robots. In point of mathematical view, a gait generation problem is considered as an optimization problem with constraints, it is readily engaged itself to Evolutionary Computation methods and solutions. This paper proposes a novel approach for gait pattern generation of the biped robot. This is to aim to enable the robot to walk more naturally and more stably in locomotion on flat ground. In this study, the approximated optimization method based on Artificial Neural Networks (ANNs) and Improved Self-Adaptive Differential Evolution Algorithm (ISADE) for a gait generation problem is mentioned. To evaluate the achievement of the proposed method, the robot was simulated by multi-body dynamic simulation software, Adams (MSC software, USA). Besides, the walking behavior of the robot is also considered in comparison with that of the human. The result shows that the new approach is an effective method for a gait generation of the biped robot.

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Efficient walking with optimization for a planar biped walker with a torso by hip actuators and springs

Cited by 23 publications

References 26 publications

Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs

Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs

Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots

A Gait Generation for Biped Robot Based on Artificial Neural Network and Improved Self-Adaptive Differential Evolution Algorithm

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