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Article: Computational design towards energy efficient optimization in overconstrained robotic limbs

TitleComputational design towards energy efficient optimization in overconstrained robotic limbs
Authors
Gu, YupingWang, ZiqianFeng, ShihaoSun, HaoranLu, HaiboPan, JiaWan, FangSong, Chaoyang
Keywordsco-optimization
computational design
quadruped robot
robotic limb
Issue Date1-Sep-2023
PublisherOxford University Press
Citation
Journal of Computational Design and Engineering, 2023, v. 10, n. 5, p. 1941-1956 How to Cite?
DOI: http://dx.doi.org/10.1093/jcde/qwad083
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.


Persistent Identifierhttp://hdl.handle.net/10722/342850
ISSN
2288-5048
2021 Impact Factor: 6.167
2020 SCImago Journal Rankings: 0.764
ISI Accession Number ID
WOS:001064252600002

 

DC FieldValueLanguage
dc.contributor.authorGu, Yuping-
dc.contributor.authorWang, Ziqian-
dc.contributor.authorFeng, Shihao-
dc.contributor.authorSun, Haoran-
dc.contributor.authorLu, Haibo-
dc.contributor.authorPan, Jia-
dc.contributor.authorWan, Fang-
dc.contributor.authorSong, Chaoyang-
dc.date.accessioned2024-05-02T03:06:21Z-
dc.date.available2024-05-02T03:06:21Z-
dc.date.issued2023-09-01-
dc.identifier.citationJournal of Computational Design and Engineering, 2023, v. 10, n. 5, p. 1941-1956-
dc.identifier.issn2288-5048-
dc.identifier.urihttp://hdl.handle.net/10722/342850-
dc.description.abstract<p>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.</p>-
dc.languageeng-
dc.publisherOxford University Press-
dc.relation.ispartofJournal of Computational Design and Engineering-
dc.rightsThis work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.-
dc.subjectco-optimization-
dc.subjectcomputational design-
dc.subjectquadruped robot-
dc.subjectrobotic limb-
dc.titleComputational design towards energy efficient optimization in overconstrained robotic limbs-
dc.typeArticle-
dc.identifier.doi10.1093/jcde/qwad083-
dc.identifier.scopuseid_2-s2.0-85173230875-
dc.identifier.volume10-
dc.identifier.issue5-
dc.identifier.spage1941-
dc.identifier.epage1956-
dc.identifier.eissn2288-5048-
dc.identifier.isiWOS:001064252600002-
dc.identifier.issnl2288-4300-

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