| Title | Computational design towards energy efficient optimization in overconstrained robotic limbs |
| Author | |
| Corresponding Author | Pan, Jia; Wan, Fang; Song, Chaoyang |
| Publication Years | 2023-09-01
|
| DOI | |
| Source Title | |
| EISSN | 2288-5048
|
| Volume | 10Issue:5 |
| 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.","Graphical Abstract"] |
| Keywords | |
| URL | [Source Record] |
| Indexed By | |
| Language | English
|
| SUSTech Authorship | First
; Corresponding
|
| Funding Project | Ministry of Science and Technology of China[2022YFB4701200]
; National Science Foundation of China[62206119]
; Science, Technology, and Innovation Commission of Shenzhen Municipality["JCYJ20220818100417038","ZDSYS20220527171403009","SGDX20220530110804030"]
|
| WOS Research Area | Computer Science
; Engineering
|
| WOS Subject | Computer Science, Interdisciplinary Applications
; Engineering, Multidisciplinary
|
| WOS Accession No | WOS:001064252600002
|
| Publisher | |
| Data Source | Web of Science
|
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Journal Article |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/571816 |
| Department | Department of Mechanical and Energy Engineering |
| Affiliation | 1.Southern Univ Sci & Technol, Dept Mech & Energy Engn, 1088 XueyuanRd, Shenzhen 518055, Peoples R China 2.Univ Hong Kong, Dept Comp Sci, Pok Fu Lam, Hong Kong 999077, Peoples R China 3.Peng Cheng Lab, 2 Xingke First Rd, Shenzhen 518066, Peoples R China 4.Southern Univ Sci & Technol, Shenzhen Key Lab Intelligent Robot & Flexible Mfg, 1088 Xueyuan Rd, Shenzhen 518055, Peoples R China 5.Southern Univ Sci & Technol, Guangdong Prov Key Lab Human Augmentat & Rehabil R, 1088 Xueyuan Rd, Shenzhen 518055, Peoples R China |
| First Author Affilication | Department of Mechanical and Energy Engineering |
| Corresponding Author Affilication | Southern University of Science and Technology; Department of Mechanical and Energy Engineering |
| First Author's First Affilication | Department of Mechanical and Energy Engineering |
| Recommended Citation GB/T 7714 |
Gu, Yuping,Wang, Ziqian,Feng, Shihao,et al. Computational design towards energy efficient optimization in overconstrained robotic limbs[J]. JOURNAL OF COMPUTATIONAL DESIGN AND ENGINEERING,2023,10(5).
|
| APA |
Gu, Yuping.,Wang, Ziqian.,Feng, Shihao.,Sun, Haoran.,Lu, Haibo.,...&Song, Chaoyang.(2023).Computational design towards energy efficient optimization in overconstrained robotic limbs.JOURNAL OF COMPUTATIONAL DESIGN AND ENGINEERING,10(5).
|
| MLA |
Gu, Yuping,et al."Computational design towards energy efficient optimization in overconstrained robotic limbs".JOURNAL OF COMPUTATIONAL DESIGN AND ENGINEERING 10.5(2023).
|
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