scholarly journals Galloping Trajectory Generation of a Legged Transport Robot Based on Energy Consumption Optimization

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Yaguang Zhu ◽  
Tong Guo
Keyword(s):  
Energy Consumption ◽  
Trajectory Planning ◽  
Stance Phase ◽  
Gait Cycle ◽  
Complex Surface ◽  
Walking Robots ◽  
Joint Torques ◽  
Energy Consumption Optimization ◽  
System Energy ◽  
Lift Off

Legged walking robots have very strong operation ability in the complex surface and they are very suitable for transportation of tools, materials, and equipment in unstructured environment. Aiming at the problems of energy consumption of legged transport robot during the fast moving, a method of galloping trajectory planning based on energy consumption optimization is proposed. By establishing transition angle polynomials of flight phase, lift-off phase, and stance phase and constraint condition between each state phase, the locomotion equations of the ellipse trajectory are derived. The transition angle of each state phase is introduced into the system energy consumption equations, and the energy optimization index based on transition angles is established. Inverse kinematics solution and trajectory planning in one gait cycle are applied to genetic algorithm process to solve the nonlinear programming problem. The results show that the optimized distribution of transition angles of state phases is more reasonable, and joint torques and system energy consumption are reduced effectively. Thus, the method mentioned above has a great significance to realize fast operation outdoors of transport robot.

Novel active magnetorheological knee prosthesis presents low energy consumption during ground walking

2021 ◽  
pp. 1045389X2098392
Author(s):  
Rafhael Milanezi de Andrade ◽  
Jordana Simões Ribeiro Martins ◽  
Marcos Pinotti ◽  
Antônio Bento Filho ◽  
Claysson Bruno Santos Vimieiro
Keyword(s):  
Energy Consumption ◽  
Stance Phase ◽  
Gait Cycle ◽  
Dynamic Models ◽  
Knee Prosthesis ◽  
Regenerative Braking ◽  
Harmonic Drive ◽  
Low Energy Consumption ◽  
Energetic Expenditure ◽  
Over Ground Walking

This study analyses the energy consumption of an active magnetorheological knee (AMRK) actuator that was designed for transfemoral prostheses. The system was developed as an operational motor unit (MU), which consists of an EC motor, a harmonic drive and a magnetorheological (MR) clutch, that operates in parallel with an MR brake. The dynamic models of the MR brake and MU were used to simulate the system’s energetic expenditure during over-ground walking under three different working conditions: using the complete AMRK; using just its motor-reducer, to operate as a common active knee prosthesis (CAKP), and using just the MR brake, to operate as a common semi-active knee prosthesis (CSAKP). The results are used to compare the MR devices power consumptions with that of the motor-reducer. As previously hypothesized, to use the MR brake in the swing phase is more energetically efficient than using the motor-reducer to drive the joint. Even if using the motor-reducer in regenerative braking mode during the stance phase, the differences in power consumption among the systems are remarkable. The AMRK expended 16.3 J during a gait cycle, which was 1.6 times less than the energy expenditure of the CAKP (26.6 J), whereas the CSAKP required just 6.0 J.

scholarly journals Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Liyang Wang ◽  
Ming Chen ◽  
Xiangkui Jiang ◽  
Wei Wang
Keyword(s):  
Energy Consumption ◽  
Quadratic Programming ◽  
Energy Optimization ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Biped Robots ◽  
Biped Walking ◽  
Joint Torques ◽  
Force Moment

The application of biped robots is always trapped by their high energy consumption. This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits. In this work, a constrained quadratic programming (QP) problem for energy optimization is formulated. A neurodynamics-based solver is presented to solve the QP problem. Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO) strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i) the force-moment equilibrium equation of biped robots, (ii) frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii) physical limits of the motors. Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.

Dynamic Modeling, Stability and Energy Consumption Analysis of Turning Motion of Realistic Hexapod Walking Robots

2011 ◽  
Author(s):  
Shibendu Shekhar Roy ◽  
Dilip Kumar Pratihar
Keyword(s):  
Energy Consumption ◽  
Angular Velocity ◽  
Dynamic Modeling ◽  
Stability Margin ◽  
Duty Factor ◽  
Walking Robots ◽  
Dissipated Energy ◽  
Total Energy Consumption ◽  
Joint Torques ◽  
Turning Motion

This paper presents a detailed dynamic modeling of a realistic hexapod walking robot during its turning motion over flat terrain. An energy consumption model is derived for generating statically stable wave-turning gaits by minimizing dissipated energy for the optimal feet forces distributions. Two approaches, such as minimization of norm of feet forces and minimization of norm of joint torques have been developed using least squared method. The performances of these approaches have been compared with one other for different values of duty factor. The effects of walking parameters, namely angular velocity, angular stroke and duty factors are studied on energy consumption and stability during turning motion. In order to minimize total energy consumption, the angular velocity should be as high as possible for a particular duty factor. A stability analysis based on normalized energy stability margin is performed for the turning motion of robot with four duty factors for different angular strokes.

scholarly journals Optimal Energy Consumption for Mobile Manipulators Executing Door-Opening Task

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Changyou Ma ◽  
Haibo Gao ◽  
Liang Ding ◽  
Jianguo Tao ◽  
Kerui Xia ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Nuclear Power ◽  
Power Plants ◽  
High Energy ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Joint Torques ◽  
Door Opening ◽  
Base Position ◽  
Energy Consumption Optimization

As a substitute for humans, the mobile manipulator has become increasingly vital for on-site rescues at Nuclear Power Plants (NPPs) in recent years. The high energy efficiency of the mobile manipulator when executing specific rescue tasks is of great importance for the mobile manipulator. This paper focuses on the energy consumption of a robot executing the door-opening task, in a scenario mimicking an NPP rescue. We present an energy consumption optimization scheme to determine the optimal base position and joint motion of the manipulator. We developed a two-step procedure to solve the optimization problem, taking the quadric terms of the joint torques as the objective function. Firstly, the rotational motion of the door is parameterized by using piecewise fifth-order polynomials, and the parameters of the polynomials are optimized by minimizing the joint torques at the specified base position using the Quasi-Newton method. Second, the global optimal movement of the manipulator for executing the door-opening task is acquired by means of searching a grid for feasible base positions. Comprehensive door-opening experiments using a mobile manipulator platform were conducted. The effectiveness of the proposed method has been demonstrated by the results of physical experiments.

scholarly journals The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot

2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Xuepeng Li ◽  
Wei Wang ◽  
Shilin Wu ◽  
Peihua Zhu ◽  
Fei Zhao ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Trajectory Planning ◽  
Structural Parameters ◽  
Kinematics And Dynamics ◽  
Climbing Robot ◽  
Trot Gait ◽  
Reduce Energy Consumption ◽  
System Energy ◽  
Dynamic Gait ◽  
Continuity Analysis

Inspired by the dynamic gait adopted by gecko, we had put forward GPL (Gecko-inspired mechanism with a Pendular waist and Linear legs) model with one passive waist and four active linear legs. To further develop dynamic gait and reduce energy consumption of climbing robot based on the GPL model, the gait design and trajectory planning are addressed in this paper. According to kinematics and dynamics of GPL, the trot gait and continuity analysis are executed. The effects of structural parameters on the supporting forces are analyzed. Moreover, the trajectory of the waist is optimized based on system energy consumption. Finally, a bioinspired robot is developed and the prototype experiment results show that the larger body length ratio, a certain elasticity of the waist joint, and the optimized trajectory contribute to a decrease in the supporting forces and reduction in system energy consumption, especially negative forces on supporting feet. Further, the results in our experiments partly explain the reasonability of quadruped reptile’s kinesiology during dynamic gait.

Stability of aerobic granular sludge under low energy consumption: Optimization of granular size distribution by a novel internal component

2021 ◽  
Author(s):  
Runjuan Cao ◽  
Yatong Ji ◽  
Taixing Han ◽  
Jingsong Deng ◽  
Liang Zhu ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Granular Sludge ◽  
Pollutant Removal ◽  
Low Energy ◽  
Aerobic Granular Sludge ◽  
Mesh Screen ◽  
Energy Consumption Optimization ◽  
Low Energy Consumption ◽  
Internal Component ◽  
The Stability

To enhance the stability and pollutant removal performance of an aerobic granular sludge (AGS), four groups of AGS reactors with different pore sizes of mesh screen (R1 is control reactor,...

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