Parallel Elastic Elements Improve Energy Efficiency on the STEPPR Bipedal Walking Robot

Mazumdar, Anirban; Spencer, Steve J.; Hobart, Clinton G.; Salton, Jonathan R.; Quigley, Morgan; Wu, Tingfan; Bertrand, Sylvain; Pratt, Jerry; Buerger, Stephen

doi:10.1109/tmech.2016.2631170

Cited by 56 publications

(30 citation statements)

References 30 publications

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“…Secondly, considering the entire of the device, when the hydro-cylinder is disabled, the relation between the two springs is parallel. Therefore, according to equations (5), (6), and 7, the apparent stiffness, the force, and the energy storage can be written as follows…”

Section: The Springs and The Hydro-cylindermentioning

confidence: 99%

“…Brown has presented a passiveassist device, [3][4][5] which consisted of actuator and elastic element, and introduced the optimization method of the spring and the results of the experiments to verify that EOES of the parallel elastic actuator (PEA) is higher than other mechanisms. Mazumdar has designed a robotic joint with PEA, 6 which increased the EOES, according to the motion data of the walking robotic joint. The main mechanisms of the research above are series elastic actuator (SEA) or PEA.…”

Section: Introductionmentioning

confidence: 99%

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Mechanical design and energy storage efficiency research of a variable stiffness elastic actuator

Liu

Zhao

et al. 2020

International Journal of Advanced Robotic Systems

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The energy storage efficiency is an important performance of a robot or a man–machine interaction device. This article will introduce the process of design and energy storage research of a variable stiffness elastic actuator with a two-elements and one actuator mod. Firstly, the principle model will be present to analyze the operation theory. Then, the simulation and experiment model will be described to calculate the characteristics of the device. The stiffness ratio of the two springs constituting the elastic element of the device will be studied in detail, and the results can present the rule of the energy storage value. Finally, the performance of the device, the error of the experiment, and a special mechanism which presented at the extreme shape condition of the ratio will be discussed. The conclusion is that the maximum energy that the device can store is 1.415 J at the stiffness ratio equaling 0.46, and the energy storage efficiency is 1.3608 at the ratio equaling 0.45, when the weight of the device is 3.54 kg and the apparent stiffness is about 3450 N/m.

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Section: The Springs and The Hydro-cylindermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mechanical design and energy storage efficiency research of a variable stiffness elastic actuator

Liu

Zhao

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

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“…The addition of compliant elements in parallel to main actuation branches, known as parallel-elastic actuation, has seen less adoption than series-elastic actuation. However, its benefits have been demonstrated repeatedly, in test bench setups (Haeufle et al, 2012;Mathijssen et al, 2015Mathijssen et al, , 2016Mettin et al, 2010;Plooij et al, 2016), hopping robots (Liu et al, 2015), bipedal walkers (Mazumdar et al, 2016;Yang et al, 2008), and humanoids (Shirata et al, 2007). Other fields of application are exoskeletons (Toxiri et al, 2018) and prostheses, where parallel compliance has been utilized in prosthetic ankles (Au et al, 2009;Flynn, 2015;Jimenez-Fabian et al, 2017;Realmuto et al, 2015) and knees (Pfeifer et al, 2015;Rouse et al, 2013), to reduce the motor torque required to produce the desired deflection-torque profiles.…”

Section: Introductionmentioning

confidence: 99%

“…The result can be that the main actuation drive has to work against the parallel compliance in order to obtain the desired joint torque. To solve this issue, many works employ unidirectional elements (Au et al, 2009;Jimenez-Fabian et al, 2017;Mazumdar et al, 2016;Mettin et al, 2010;Realmuto et al, 2015), clutches/ switches (Haeufle et al, 2012;Liu et al, 2015;Plooij et al, 2016;Rouse et al, 2013), or secondary pretension motors (Mathijssen et al, 2015;Roozing et al, 2016Roozing et al, , 2015, to engage and disengage parallel elements at desired instants.…”

Section: Introductionmentioning

confidence: 99%

An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg

Roozing

Ren

Tsagarakis

2019

The International Journal of Robotics Research

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We present the development, modeling, and control of a three-degree-of-freedom compliantly actuated leg called the eLeg, which employs both series- and parallel-elastic actuation as well as a bio-inspired biarticular tendon. The leg can be reconfigured to use three distinct actuation configurations, to directly compare with a state-of-the-art series-elastic actuation scheme. Critical actuation design parameters are derived through optimization. A rigorous modeling approach is presented using the concept of power flows, which are also used to demonstrate the ability to transfer mechanical power between ankle and knee joints using the biarticular tendon. The design principles and control strategies were verified both in simulation and experiment. Notably, the experimental data demonstrate significant improvements of 65–75% in electrical energy consumption compared with a state-of-the-art series-elastic actuator configuration.

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“…Many methods have been used to improve energy efficiency, such as compliant actuation design [2], [3], human walking learning [4], and gait parameters optimization [5], [6]. Generally, optimization-based approaches first evaluate a set of nominal step parameters and then update them following the gradient that minimizes the energetic cost of a desired travel distance.…”

Section: Introductionmentioning

confidence: 99%

Energy-Efficient Bipedal Gait Pattern Generation via CoM Acceleration Optimization

Ding

Zhou

Xiao

2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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Energy consumption for bipedal walking plays a central role for a humanoid robot with limited battery capacity. Studies have revealed that exploiting the allowable Zero Moment Point region (AZR) and Center of Mass (CoM) height variation (CoMHV) are strategies capable of improving energy performance. In general, energetic cost is evaluated by integrating the electric power of multi joints. However, this Joint-Power-based Index requires computing joint torques and velocities in advance, which usually requires time-consuming iterative procedures, especially for multi-joints robots. In this work, we propose a CoM-Acceleration-based Optimal Index (CAOI) to synthesize an energetically efficient CoM trajectory. The proposed method is based on the Linear Inverted Pendulum Model, whose energetic cost can be easily measured by the input energy required for driving the point mass to track a reference trajectory. We characterize the CoM motion for a single walking cycle and define its energetic cost as Unit Energy Consumption. Based on the CAOI, an analytic solution for CoM trajectory generation is provided. Hardware experiments demonstrated the computational efficiency of the proposed approach and the energetic benefits of exploiting AZR and CoMHV strategies.

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Parallel Elastic Elements Improve Energy Efficiency on the STEPPR Bipedal Walking Robot

Cited by 56 publications

References 30 publications

Mechanical design and energy storage efficiency research of a variable stiffness elastic actuator

Mechanical design and energy storage efficiency research of a variable stiffness elastic actuator

An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg

Energy-Efficient Bipedal Gait Pattern Generation via CoM Acceleration Optimization

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