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.

Bibot-U6: A Novel 6-DoF Biped Active Walking Robot - Modeling, Planning and Control

2014 ◽  
Vol 11 (02) ◽  
pp. 1450014 ◽  
Author(s):  
Xuefeng Zhou ◽  
Yisheng Guan ◽  
Haifei Zhu ◽  
Wenqiang Wu ◽  
Xin Chen ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Walking Robot ◽  
Biped Robots ◽  
Planning And Control ◽  
Biped Walking Robot ◽  
And Control ◽  
High Energy Consumption

Most of current biped robots are active walking platforms. Though they have strong locomotion ability and good adaptability to environments, they have a lot of degrees of freedom (DoFs) and hence result in complex control and high energy consumption. On the other hand, passive or semi-passive walking robots require less DoFs and energy, but their walking capability and robustness are poor. To overcome these shortcomings, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, four walking gaits are proposed, the criterion of stable walking is addressed and analyzed, and walking patterns and motion planning are presented. Experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment

2008 ◽  
Vol 20 (5) ◽  
pp. 775-784 ◽  
Author(s):  
Kenji Hashimoto ◽  
◽  
Yusuke Sugahara ◽  
Hun-Ok Lim ◽  
Atsuo Takanishi ◽  
...  
Keyword(s):  
Biped Robot ◽  
Stability Control ◽  
Outdoor Environment ◽  
Walking Robots ◽  
Control Algorithms ◽  
Biped Robots ◽  
Uneven Terrain ◽  
Walking Pattern ◽  
Actual Compliance ◽  
Modification Method

Many researchers have studied walking stability control for biped robots, most of which involve highly precise acceleration controls based on robot model mechanics. Modeling error, however, makes the control algorithms used difficult to apply to biped walking robots intended to transport human users. The “landing pattern modification method” we propose is based on nonlinear admittance control. Theoretical compliance displacement calculated from walking patterns is compared to actual compliance displacement, when a robot's foot contacts slightly uneven terrain. Terrain height is detected and the preset walking pattern is modified accordingly. The new biped foot we also propose forms larger support polygons on uneven terrain than conventional biped foot systems do. Combining our new modification method and foot, a human-carrying biped robot can traverse uneven terrain, as confirmed in walking experiments.

Design of a Biped Robot With Torsion Springs at the Joints for Reduced Energy Consumption During Walk

2009 ◽  
Author(s):  
Santosh Pratap Singh ◽  
Ashish Dutta ◽  
Anupam Saxena
Keyword(s):  
Energy Consumption ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Biped Robot ◽  
Single Step ◽  
Biped Robots ◽  
Gait Parameters ◽  
Reduction Of Energy Consumption ◽  
Torsion Springs ◽  
Spring Constants

Biped robots have multiple degrees of freedom for walking and hence they consume a lot of energy. In this paper it is proposed that adding torsion springs at the joints of an 8 DOF biped will lead to reduced energy consumption during walk. First the dynamic equations of motion of the biped robot are obtained incorporating the torsion springs at the joints. Using the dynamic model the total energy consumed during walk was evaluated for a single step. A Genetic Algorithm (GA) based algorithm was developed for finding the energy optimal trajectory during gait by comparing all the possible trajectories. It is first proved that addition of torsion springs at the joints lead to reduction of energy consumption as compared to a biped with no springs. All the gait parameters were then optimized to get the optimum values for the spring constants at each joint, reference angle of springs and length of each step. It is proved that using these optimal parameters the proposed biped robot consumes the least energy.

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.

Novel Design of Biped Robot Using Cable Differential Joint

2012 ◽  
Vol 479-481 ◽  
pp. 2307-2310 ◽  
Author(s):  
Hui Wei ◽  
Mei Shuai ◽  
Zhong Yu Wang
Keyword(s):  
Energy Consumption ◽  
Power Consumption ◽  
Lower Energy ◽  
Humanoid Robot ◽  
Biped Robot ◽  
Peak Torque ◽  
Differential Mode ◽  
Biped Walking ◽  
Human Energy ◽  
Novel Design

In this paper, a novel design of cable differential joint for biped robot is proposed. The transmission of joint is cable and operates in differential mode. Then, cable differential joints are employed to the humanoid robot BHLEG for its torque redistribution, 3-Degree of Freedom (DOF) cable differential joint for hip, one DOF joint for knee, and 2-DOF cable differential joint for ankle. According to the distribution of human energy, torque redistribution of cable differential joint can reduce the power consumption of actuator. Simultaneously, the peak torque and size of actuator is reduced. The aim of this paper is to verify a simplest mechanism for biped walking with lower energy consumption.

scholarly journals Simulation and energy integration of distillation tower of a naphtha treatment unit

2018 ◽  
Vol 73 ◽  
pp. 61
Author(s):  
Ali Jalali ◽  
Marzieh Lotfi ◽  
Amir H. Mohammadi
Keyword(s):  
Energy Consumption ◽  
Energy Optimization ◽  
High Energy ◽  
Air Conditioner ◽  
Energy Integration ◽  
Treatment Unit ◽  
Cooling Fluid ◽  
Aspen Hysys ◽  
Higher Temperature ◽  
Oil Gas

Energy optimization is of vital importance especially in oil, gas and petrochemical industries. Distillation column with high energy consumption is one of the most common equipment in the aforementioned industries. Thus, it is important to revise the projection of initial process, reduce energy consumption and recover some of used energy. In this work, we studied energy optimization of a naphtha treating unit in a petrochemical company using Aspen HYSYS software. For energy optimization, feed temperature was changed to a satisfactory temperature (47 °C) for condensation of overhead steam distillation. Feed was used as a cooling fluid in the heat exchanger before the main condenser. According to outcome, 644.11 MW of energy was recovered and approximately 53% less energy was used in the air conditioner. Feed was injected in tower with higher temperature (212 °C) because of preheating. This reduces consumed energy up to approximately 63% by reducing the entering flow rate of reboiler.

scholarly journals Contact-Dependent Balance Stability of Biped Robots

2018 ◽  
Vol 10 (2) ◽  
Author(s):  
Carlotta Mummolo ◽  
William Z. Peng ◽  
Carlos Gonzalez ◽  
Joo H. Kim
Keyword(s):  
Stability Boundary ◽  
Theoretical Models ◽  
Biped Robot ◽  
Walking Robots ◽  
Stability Boundaries ◽  
Biped Robots ◽  
Double Support ◽  
Contact Configuration ◽  
Multiple Contacts ◽  
Balance Stability

A theoretical–algorithmic framework for the construction of balance stability boundaries of biped robots with multiple contacts with the environment is proposed and implemented on a robotic platform. Comprehensive and univocal definitions of the states of balance of a generic legged system are introduced with respect to the system's contact configuration. Theoretical models of joint-space and center of mass (COM)-space dynamics under multiple contacts, distribution of contact wrenches, and robotic system parameters are established for their integration into a nonlinear programing (NLP) problem. In the proposed approach, the balance stability capabilities of a biped robot are quantified by a partition of the state space of COM position and velocity. The boundary of such a partition provides a threshold between balanced and falling states of the biped robot with respect to a specified contact configuration. For a COM state to be outside of the stability boundary represents the sufficient condition for falling, from which a change in the system's contact is inevitable. Through the calculated stability boundaries, the effects of different contact configurations (single support (SS) and double support (DS) with different step lengths) on the robot's balance stability capabilities can be quantitatively evaluated. In addition, the balance characteristics of the experimental walking trajectories of the robot at various speeds are analyzed in relation to their respective stability boundaries. The proposed framework provides a contact-dependent balance stability criterion for a given system, which can be used to improve the design and control of walking robots.

scholarly journals DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT

2006 ◽  
Vol 03 (01) ◽  
pp. 105-126
Author(s):  
AHMAD BAGHERI ◽  
FARID NAJAFI ◽  
REZA FARROKHI ◽  
RAHMAN YOUSEFI MOGHADDAM ◽  
MOHAMMAD EBRAHIM FELEZI
Keyword(s):  
Equations Of Motion ◽  
Biped Robot ◽  
Adaptive Methods ◽  
Walking Robots ◽  
Physical Parameters ◽  
Human Beings ◽  
Adaptive Procedure ◽  
Link Length ◽  
Biped Walking ◽  
Dynamic Modification

Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, "supporting leg and trunk" and "swing leg" separately, the stability of robot is achieved by locating the zero moment point (ZMP). A dynamic modification is developed for ZMP positioning. For motion control of the robot, the physical parameters (such as mass, link length and geometry) are estimated (identified) by adaptive methods. A Matlab based software simulation is also conducted.

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.

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