Natural dynamics modification for energy efficiency: A data-driven parallel compliance design method

Khoramshahi, Mahdi; Parsa, Atoosa; Ijspeert, Auke Jan; Ahmadabadi, Majid Nili

doi:10.1109/icra.2014.6907194

Cited by 22 publications

(13 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The serial configuration (adopted for example in References [42,50,79]) provides the actuator with a compliance that can be employed to decrease contact shocks and to reduce force peaks due to impacts, for example, In human-robot interaction [46]. On the other hand, the parallel configuration [65,[80][81][82] results in simpler mechanism and mathematics formulation [78]. Parallel compliance does not enlarge the configuration space of the robotic system and has a well-posed quadratic cost function for energy consumption minimization with respect to the compliance coefficients [83].…”

Section: Discussion Of Elastic Elements Configurationsmentioning

confidence: 99%

“…The exploitation of the force-displacement graph is suggested also by M. Khoramshi et al [65]. In particular, they compute the absolute work along the force-displacement graph and derive the value of the parallel spring stiffness that minimize it.…”

Section: Methods Based On Force-displacement Graphsmentioning

confidence: 99%

“…The research in this field mainly addresses the development of mechanisms to realize variable stiffness springs [57][58][59] and non-linear off-the-shelf springs [60][61][62][63]. Indeed, non-linear stiffness allows a larger energy saving in robots, since actuators torques and end-effector trajectory are always related by non-linear behavior, as demonstrated in References [58,64,65].…”

Section: Parallel Compliance Elementsmentioning

confidence: 99%

See 2 more Smart Citations

Natural Motion for Energy Saving in Robotic and Mechatronic Systems

et al. 2019

View full text Add to dashboard Cite

Energy saving in robotic and mechatronic systems is becoming an evermore important topic in both industry and academia. One strategy to reduce the energy consumption, especially for cyclic tasks, is exploiting natural motion. We define natural motion as the system response caused by the conversion of potential elastic energy into kinetic energy. This motion can be both a forced response assisted by a motor or a free response. The application of the natural motion concepts allows for energy saving in tasks characterized by repetitive or cyclic motion. This review paper proposes a classification of several approaches to natural motion, starting from the compliant elements and the actuators needed for its implementation. Then several approaches to natural motion are discussed based on the trajectory followed by the system, providing useful information to the researchers dealing with natural motion.

show abstract

Section: Discussion Of Elastic Elements Configurationsmentioning

confidence: 99%

Section: Methods Based On Force-displacement Graphsmentioning

confidence: 99%

Section: Parallel Compliance Elementsmentioning

confidence: 99%

See 1 more Smart Citation

Natural Motion for Energy Saving in Robotic and Mechatronic Systems

et al. 2019

View full text Add to dashboard Cite

show abstract

“…Accordingly, it is inferred that each optimum cyclic motion have a compatible compliance element. Consequently, an inverse problem comes to mind where in our previous works [47,48], we provided methods to find the optimal compliance for a given periodic motion.…”

Section: Periodic Motions Need Compliancementioning

confidence: 99%

Adaptive Natural Oscillator to exploit natural dynamics for energy efficiency

Khoramshahi

Nasiri

Shushtari

et al. 2017

Robotics and Autonomous Systems

Self Cite

View full text Add to dashboard Cite

We present a novel adaptive oscillator, called Adaptive Natural Oscillator (ANO), to exploit the natural dynamics of a given robotic system. This tool is built upon the Adaptive Frequency Oscillator (AFO), and it can be used as a pattern generator in robotic applications such as locomotion systems. In contrast to AFO, that adapts to the frequency of an external signal, ANO adapts the frequency of reference trajectory to the natural dynamics of the given system. In this work, we prove that, in linear systems, ANO converges to the system's natural frequency. Furthermore, we show that this tool exploits the natural dynamics for energy efficiency through minimization of actuator effort. This property makes ANO an appealing tool for energy consumption reduction in cyclic tasks; especially in legged systems. We also extend the proposed adaptation mechanism to high dimensional and general cases; such as n-DOF manipulators. In addition, by investigating a hopper leg in simulation, we show the efficacy of ANO in face of dynamical discontinuities; such as those inherent in legged locomotion. Furthermore, we apply ANO to a simulated compliant robotic manipulator performing a periodic task where the energy consumption is drastically reduced. Finally, the experimental results on a 1-DOF compliant joint show that our adaptive oscillator, despite all practical uncertainties and deviations from theoretical models, exploits the natural dynamics and reduces the energy consumption.

show abstract

“…To support the payload mass, the use of parallel elastic actuation provides an interesting option. Explored in the past for manipulation [10] and locomotion [11], [12], [13], parallel elastic actuators allow for a decoupling of the actuator from the gravitational loads of the body mass since the parallel springs can absorb the loads completely. The actuator can be used only for energy input to compensate for damping, friction and impact losses during the run.…”

Section: Introductionmentioning

confidence: 99%

Parallel elastic actuation for efficient large payload locomotion

Günther

Shu

Iida

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

For legged devices, their ability of carrying payload is a necessity for a wide range of tasks. In this paper, we present a new approach of carrying payload by using a parallel elastic mechanism, which is able to carry payloads of at least 3 times of its bodyweight. Although the robot has no sensory feedback and consists of only two rigid bodies and one spring loaded joint, it is able to achieve efficient and stable forward hopping for a wide range of attached payload. The presented payload carrier ETH Cargo is based on the further development of our platform CHIARO for the payload range between 0 and 100kg. After parameter optimization using simulations, a series of real world experiments prove stable and high efficiency hopping of the prototype over a wide range of payloads.

show abstract

Natural dynamics modification for energy efficiency: A data-driven parallel compliance design method

Cited by 22 publications

References 20 publications

Natural Motion for Energy Saving in Robotic and Mechatronic Systems

Natural Motion for Energy Saving in Robotic and Mechatronic Systems

Adaptive Natural Oscillator to exploit natural dynamics for energy efficiency

Parallel elastic actuation for efficient large payload locomotion

Contact Info

Product

Resources

About