Computational design towards energy efficient optimization in overconstrained robotic limbs-Reference-Cited by-同舟云学术

Computational design towards energy efficient optimization in overconstrained robotic limbs

Published:2023-08-22 Issue:5 Volume:10 Page:1941-1956
ISSN:2288-5048
Container-title:Journal of Computational Design and Engineering
language:en
Short-container-title:

Author:

Gu Yuping¹²,Wang Ziqian¹³,Feng Shihao¹,Sun Haoran¹²,Lu Haibo³,Pan Jia²,Wan Fang⁴,Song Chaoyang¹⁵^ORCID

Affiliation:

1. Department of Mechanical and Energy Engineering, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China

2. Department of Computer Science, The University of Hong Kong , Pok Fu Lam, Hong Kong, 999077, China

3. Peng Cheng Laboratory , 2 Xingke First Road, Shenzhen, 518066, China

4. Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China

5. Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China

Abstract

Abstract Legged robots are constantly evolving, and energy efficiency is a major driving factor in their design. However, combining mechanism efficiency and trajectory planning can be challenging. This work proposes a computational optimization framework for optimizing leg design during basic walking while maximizing energy efficiency. We generalize the robotic limb design as a four-bar linkage-based design pool and optimize the leg using an evolutionary algorithm. The leg configuration and design parameters are optimized based on user-defined objective functions. Our framework was validated by comparing it to measured data on our prototype quadruped robot for forward trotting. The Bennett robotic leg was advantageous for omni-directional locomotion with enhanced energy efficiency.

Funder

Ministry of Science and Technology of China

National Natural Science Foundation of China

The Science, Technology, and Innovation Commission of Shenzhen Municipality

Publisher

Oxford University Press (OUP)

Subject

Computational Mathematics,Computer Graphics and Computer-Aided Design,Human-Computer Interaction,Engineering (miscellaneous),Modeling and Simulation,Computational Mechanics

Link

https://academic.oup.com/jcde/advance-article-pdf/doi/10.1093/jcde/qwad083/51224701/qwad083.pdf

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