Optimal power loss motion planning in legged robots

Potts, Alain Segundo; Cruz, José Jaime da

doi:10.1017/s0263574714001544

Cited by 9 publications

(4 citation statements)

References 21 publications

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“…The classic model of a DC motor 5,8 is used as the basis for developing an instrumentation system and protocol to determine the electrical EE rate of each actuator. The applied voltage…”

Section: Dof-based Instrumentation System For Biped Robot Energy Expementioning

confidence: 99%

“…Energy expenditure (EE)-as the consumption of an energy or fuel source-of robotic systems is an important performance criterion in design and control for improved efficiency, prolonged operation time, task planning and optimization, and extended battery life. [1][2][3][4][5][6][7][8] Methods of monitoring, predicting, and optimizing electrical EE in robotic systems are becoming increasingly necessary as robots become viable proxies for humans in an ever-increasing variety of tasks. 9 Evaluation of electrical EE in robotic systems can be done either indirectly through mathematical models or directly through current and voltage sensing.…”

Section: Introductionmentioning

confidence: 99%

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Energy expenditure of a biped walking robot: instantaneous and degree-of-freedom-based instrumentation with human gait implications

Roberts

Quacinella

Kim³

2016

Robotica

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SUMMARYEnergy expenditure (EE) is an important criterion for design and control of biped walking robots. However, the cause-effect analyses enabled by total EE, which is lumped over a time duration and all system degrees-of-freedom (DOFs), are limited. In this study, robotic gait energetics is evaluated through a DOF-based instrumentation system designed for instantaneous evaluation of bidirectional current and applied voltage at each joint actuator. The instrumentation system includes a dual-module arrangement of buffers and attenuators, and accommodates and synchronizes the voltage and current measurements from multiple actuators. For illustrative purposes, this system is implemented at each DC servomotor in a biped robot, DARwIn-OP, to analyze the electrical EE rates for walking at various speeds. In addition, a DOF-based model of instantaneous human EE rate is employed to enable quantitative characterization of robotic walking EE relative to that of humans. The robot's instantaneous lower-body EE rates are consistent with its periodic walking cycle, and their relative trends between single and double support phases are analogous to those of humans. The robotic cost of transport (COT) curve as a function of normalized speed is also consistent with the human COT in terms of its convexity. Conversely, the contrasting distributions of EE throughout the robot and human DOFs and the robotic COT curve's considerably larger magnitudes, smaller speed ranges, and higher sensitivity to speed illustrate the energetic consequences of stable but inefficient static walking in the biped robot relative to the more efficient dynamic walking of humans. These energetic characteristics enable the identification of the joints and gait cycle phases associated with inefficiency in biped robotic gait, and reflect the noticeable differences in the system parameters (rigid and flat versus segmented feet) and gait control strategies (bent versus straight knees, instants of peak ankle actuator torques, static versus dynamic balance stability). The proposed general instrumentation provides a quantitative approach to benchmarking human gait as well as general guidelines for the development of energy-efficient walking robots.

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“…The classic model of a DC motor 5,8 is used as the basis for developing an instrumentation system and protocol to determine the electrical EE rate of each actuator. The applied voltage…”

Section: Dof-based Instrumentation System For Biped Robot Energy Expementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Energy expenditure of a biped walking robot: instantaneous and degree-of-freedom-based instrumentation with human gait implications

Roberts

Quacinella

Kim³

2016

Robotica

View full text Add to dashboard Cite

show abstract

“…Potts et al. [19] propose an iterative algorithm to minimize energy loss in kinematic chains of legged robots. Tian et al.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, a lot of studies have been carried out to investigate the optimal problem in robot trajectory generation and motion planning. Potts et al [19] propose an iterative algorithm to minimize energy loss in kinematic chains of legged robots. Tian et al [20] present a motion planning method for six-legged robot using optimized the configuration approach.…”

Section: Introductionmentioning

confidence: 99%

Kinematic modeling and hybrid motion planning for wheeled-legged rovers to traverse challenging terrains

Zhu,

He,

Sun

2023

Robotica

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This paper presents a kinematics modeling and hybrid motion planning framework for wheeled-legged rovers. It is a unified solution for wheeled-legged rovers to traverse multiple challenging terrains using hybrid locomotion. A kinematic model is first established to describe the rover’s motions. Then, a hybrid motion planning framework is proposed to determine the rover’s gait patterns and parameterize the legs’ and the body’s trajectories. Furthermore, an optimization algorithm based on B-spline is utilized to minimize the motors’ energy dissipation and generate smooth trajectories. The wheeled and legged hybridization allows the rover for faster locomotion while maintaining high stability. Besides, it also improves the rover’s ability to overcome obstacles. Prototype experiments are carried out in more complex environments to verify the rover’s flexibility and maneuverability to traverse irregular terrains. The proposed algorithm reduces the swing amplitude by 83.3% compared to purely legged locomotion.

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Low Impact Force and Energy Consumption Motion Planning for Hexapod Robot with Passive Compliant Ankles

Gao

Liu

Ding

et al. 2018

J Intell Robot Syst

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Optimal power loss motion planning in legged robots

Cited by 9 publications

References 21 publications

Energy expenditure of a biped walking robot: instantaneous and degree-of-freedom-based instrumentation with human gait implications

Energy expenditure of a biped walking robot: instantaneous and degree-of-freedom-based instrumentation with human gait implications

Kinematic modeling and hybrid motion planning for wheeled-legged rovers to traverse challenging terrains

Low Impact Force and Energy Consumption Motion Planning for Hexapod Robot with Passive Compliant Ankles

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