Minimizing the energy loss of the bi-articular actuation in bipedal robots

Derek Lahr; Hak Yi; Dennis Hong

doi:10.1115/DETC201547803

Minimizing the energy loss of the bi-articular actuation in bipedal robots

Derek Lahr, Hak Yi, Dennis Hong

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

In this work, we investigate the effect actuator position on the theoretical energy consumption of an electrically powered bipedal robot. Specifically, considerable gains are possible through the optimization of the actuator placement relative to joints and their axes, in particular biarticular actuators, are proposed. The energy losses of electric actuators on the two most powerful and inefficient joints of a biped, the hip and the knee, are considered. In standing or walking tasks of a biped's legs within mathematical model, furthermore, imposing constraints on the actuator placement is used in a genetic algorithm to find the optimum configuration of various biarticular configurations.

Original language	English
Title of host publication	39th Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791857137
DOIs	https://doi.org/10.1115/DETC201547803
State	Published - 2015
Event	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States Duration: 2 Aug 2015 → 5 Aug 2015

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	5B-2015

Conference

Conference	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Country/Territory	United States
City	Boston
Period	2/08/15 → 5/08/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1115/DETC201547803

Cite this

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title = "Minimizing the energy loss of the bi-articular actuation in bipedal robots",

abstract = "In this work, we investigate the effect actuator position on the theoretical energy consumption of an electrically powered bipedal robot. Specifically, considerable gains are possible through the optimization of the actuator placement relative to joints and their axes, in particular biarticular actuators, are proposed. The energy losses of electric actuators on the two most powerful and inefficient joints of a biped, the hip and the knee, are considered. In standing or walking tasks of a biped's legs within mathematical model, furthermore, imposing constraints on the actuator placement is used in a genetic algorithm to find the optimum configuration of various biarticular configurations.",

author = "Derek Lahr and Hak Yi and Dennis Hong",

note = "Publisher Copyright: Copyright {\textcopyright} 2015 by ASME.; ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 ; Conference date: 02-08-2015 Through 05-08-2015",

year = "2015",

doi = "10.1115/DETC201547803",

language = "English",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers (ASME)",

booktitle = "39th Mechanisms and Robotics Conference",

address = "United States",

}

Lahr, D, Yi, H & Hong, D 2015, Minimizing the energy loss of the bi-articular actuation in bipedal robots. in 39th Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 5B-2015, American Society of Mechanical Engineers (ASME), ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015, Boston, United States, 2/08/15. https://doi.org/10.1115/DETC201547803

Minimizing the energy loss of the bi-articular actuation in bipedal robots. / Lahr, Derek; Yi, Hak; Hong, Dennis.
39th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2015. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5B-2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this work, we investigate the effect actuator position on the theoretical energy consumption of an electrically powered bipedal robot. Specifically, considerable gains are possible through the optimization of the actuator placement relative to joints and their axes, in particular biarticular actuators, are proposed. The energy losses of electric actuators on the two most powerful and inefficient joints of a biped, the hip and the knee, are considered. In standing or walking tasks of a biped's legs within mathematical model, furthermore, imposing constraints on the actuator placement is used in a genetic algorithm to find the optimum configuration of various biarticular configurations.

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Minimizing the energy loss of the bi-articular actuation in bipedal robots

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