Energy-saving control of rolling speed for spherical robot based on regenerative damping

Li, Yansheng; Yang, Meimei; Wei, Bo; Zhang, Yi

doi:10.1007/s11071-023-08233-z

Cited by 5 publications

(2 citation statements)

References 33 publications

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“…These methods have made good progress in the control of legged robots. The feasibility of the traditional [19][20][21][22][23] approach can be directly observed since it usually uses different platforms for simulation, planning, and control, and the obtained data are imported into the robot control system for experiments. However, repeated attempts are inefficient and often accompanied by problems such as damage to the body, slow progress, and unsatisfactory results.…”

Section: Deep Reinforcement Learning Techniques To Automatementioning

confidence: 99%

Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm

Yan,

Ji,

Chang

2024

Actuators

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Energy consumption is one of the most critical factors in determining the kinematic performance of quadruped robots. However, existing research methods often encounter challenges in quickly and efficiently reducing the energy consumption associated with quadrupedal robotic locomotion. In this paper, the deep deterministic policy gradient (DDPG) algorithm was used to optimize the energy consumption of the Cyber Dog quadruped robot. Firstly, the kinematic and energy consumption models of the robot were established. Secondly, energy consumption was optimized by reinforcement learning using the DDPG algorithm. The optimized plantar trajectory was then compared with two common plantar trajectories in simulation experiments, with the same period and the number of synchronizations but varying velocities. Lastly, real experiments were conducted using a prototype machine to validate the simulation data. The analysis results show that, under the same conditions, the proposed method can reduce energy consumption by 7~9% compared with the existing optimal trajectory methods.

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Section: Deep Reinforcement Learning Techniques To Automatementioning

confidence: 99%

Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm

Yan,

Ji,

Chang

2024

Actuators

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“…However, no study has been carried out on the impact of chatering phenomena, which is known to weaken the robot's components over time due to the commutative nature of the controller. In [21], a spherical robot with a suspended pendulum is presented. The aim of the study was to save energy to improve endurance during sensing tasks.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Implementation of a 3-DOF Spherical Parallel Manipulator

Djennane,

Chehaidia,

Yakoub

et al. 2024

IEEE Access

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The agile eye is classified as a 3-degrees of freedom (DOF) type 3-RRR spherical parallel mechanism (SPM) designed to replicate the movement patterns seen in the human eye. The end organ exhibits a range of motion inside a cone of vision spanning 140°, with a twist tolerance of ±30°.Additionally, the mechanism can achieve angular velocities exceeding 1000 °/s and angular accelerations surpassing 20 °/s 2 . The objective of this research is to conduct a comprehensive examination of the direct and inverse kinematics of the spatial parallel manipulator (SPM) on a manipulator. The purpose of doing a kinematic analysis on the manipulator is to enhance the design optimization process, accurately determine the dimensions of all components, and improve the functionality of the computer-aided design (CAD) system. This study aims to ensure the efficient operation of the SPM and maximize its available workspace. Additionally, this study enables the achievement of a high level of stiffness inside the workspace and the establishment of clearly comprehensible limits for the workspace. Moreover, it facilitates the precise control of the SPM. An evaluation is conducted to assess the efficacy of the existing technique by comparing its outputs with those obtained from a virtual reality simulation using the commercially available software CopeliaSim. The control mechanism described in the present paper demonstrates a surplus in the resolution of precision problems while ensuring competitiveness at a controlled cost. The implementation of the robot revealed the effectiveness of the design approach adopted by recording an error of no more than 1%. INDEX TERMSMechatronics; Precision engineering; Spherical parallel manipulator; Euler angles; Optimization; Implementation. NOMENCLATURE Ui Unit vectors directed along the axes of the actuators Ai K Dexterity γ Angle between the actuators axes Ai. ‖.‖ Euclidean norm of the matrix Vi Unit vectors directed along the axes of the pivot joints connected to the end effectors Bi. ζ Reciprocal number Wi Unit vectors directed along the axes of the intermediate pivot joints Ci. η Global index for the optimization of robot α1 Angle between Ai and Ci. W Working space of the α2 Angle between Ci and Bi. kappamin Minimum dexterity β Angle between the normal of the base and the actuators axes Ai. Vi Initial state vector of the manipulator θ Angle of rotation motor. R Rotation matrix J Jacobean matrices of the manipulator W1, W2, W3 Projections of Wi vectors in the fixed frame This article has been accepted for publication in IEEE Access.

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XK-III: A Spherical Robot with Redundant Degrees of Freedom

Lin,

Huo,

Yang

et al. 2024

J Intell Robot Syst

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The spherical robot XK-III, designed with redundant degrees of freedom, addresses the limitations of existing pendulum spherical robot structures by enhancing mobility and environmental adaptability. A nonlinear dynamic model is developed for XK-III’s new drive structure, along with a nonlinear disturbance observer (NDOB) to mitigate perturbations. Additionally, a Fuzzy PID controller (FPID) is implemented to further enhance XK-III’s environmental adaptability. Experimental results confirm the effectiveness of the new design, showing that XK-III equipped with FPID and NDOB outperforms traditional control systems in terms of anti-disturbance capabilities. This research provides valuable insights for the use of spherical robots in complex environments.

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Energy-saving control of rolling speed for spherical robot based on regenerative damping

Cited by 5 publications

References 33 publications

Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm

Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm

Design, Analysis, and Implementation of a 3-DOF Spherical Parallel Manipulator

XK-III: A Spherical Robot with Redundant Degrees of Freedom

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