Yu Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan, F. Wan, Chaoyang Song
{"title":"Computational design towards energy efficient optimization in overconstrained robotic limbs","authors":"Yu Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan, F. Wan, Chaoyang Song","doi":"10.1093/jcde/qwad083","DOIUrl":null,"url":null,"abstract":"\n 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.","PeriodicalId":48611,"journal":{"name":"Journal of Computational Design and Engineering","volume":"35 1","pages":"1941-1956"},"PeriodicalIF":4.8000,"publicationDate":"2023-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Computational Design and Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1093/jcde/qwad083","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS","Score":null,"Total":0}
引用次数: 1
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.
期刊介绍：
Journal of Computational Design and Engineering is an international journal that aims to provide academia and industry with a venue for rapid publication of research papers reporting innovative computational methods and applications to achieve a major breakthrough, practical improvements, and bold new research directions within a wide range of design and engineering:
• Theory and its progress in computational advancement for design and engineering
• Development of computational framework to support large scale design and engineering
• Interaction issues among human, designed artifacts, and systems
• Knowledge-intensive technologies for intelligent and sustainable systems
• Emerging technology and convergence of technology fields presented with convincing design examples
• Educational issues for academia, practitioners, and future generation
• Proposal on new research directions as well as survey and retrospectives on mature field.
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