Minimizing torque requirements in robotic manipulation through elastic elements optimization in a physics engine
Maxime Marchal,
Dries Marzougui,
Raphaël Furnémont
et al.
Abstract:The increasing number of robots and the rising cost of electricity have spurred research into energy-reducing concepts in robotics. One such concept, elastic actuation, introduces compliant elements such as springs into the robot structure. This article presents a comparative analysis between two types of elastic actuation, namely, monoarticular parallel elastic actuation and biarticular parallel elastic actuation, and demonstrates an end-to-end pipeline for their optimization. Starting from the real-world sys… Show more
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