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.

Details

Title
Computational design towards energy efficient optimization in overconstrained robotic limbs
Author
Gu, Yuping 1 ; Wang, Ziqian 1 ; Feng, Shihao 1 ; Sun, Haoran 1 ; Lu, Haibo 2 ; Pan, Jia 3 ; Fang, Wan 4 ; Song, Chaoyang 1   VIAFID ORCID Logo 

1  Department of Mechanical and Energy Engineering, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China 
2  Peng Cheng Laboratory , 2 Xingke First Road, Shenzhen, 518066, China 
3  Department of Computer Science, The University of Hong Kong , Pok Fu Lam, Hong Kong, 999077, China 
4  Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China 
Pages
1941-1956
Publication year
2023
Publication date
Oct 2023
Publisher
Oxford University Press
ISSN
22885048
Source type
Scholarly Journal
Language of publication
English
DOI
https://doi.org/10.1093/jcde/qwad083
ProQuest document ID
3189769226
Copyright
© The Author(s) 2023. Published by Oxford University Press on behalf of the Society for Computational Design and Engineering. This work is published under http://creativecommons.org/licenses/by-nc/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.