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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
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?
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
2023 Impact Factor: 4.8
2023 SCImago Journal Rankings: 0.827
ISI Accession Number ID

 

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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