Energy-Efficient Robotic Leg Design Using Redundantly Actuated Parallel Mechanism

Title
Energy-Efficient Robotic Leg Design Using Redundantly Actuated Parallel Mechanism
Authors
오용환이종우이기욱
Keywords
Leg design; Redundant actuation; Parallel mechanism; SLIP
Issue Date
2017-07
Publisher
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Citation
-1208
Abstract
In this paper, we propose an energy-efficient robotic leg design using a redundantly actuated parallel mechanism (RAPM). By adding an actuator parallel to the seriallyactuated leg, we show that the legged machine can reduce mechanical energy loss. We begin with reviewing kinematic model of parallel mechanisms and then present an optimal torque distribution algorithm among redundant actuators which minimizes antagonistic power, a measure for mechanical energy loss due to power conflict in actuators. As an example study, given end-effector (foot) force and motion profile generated by the spring-loaded-inverted-pendulum (SLIP) running, we demonstrate how much the antagonistic power can be reduced by applying the proposed leg design and optimization algorithm in simulation. Also, it is presented that the choice of actuated joints in parallel mechanism affects the performance (energy efficiency). Finally, we demonstrate that the proposed design is also effective in walking, which validates the hypothesis that the proposed RAPM leg design can be effective in a range of locomotion tasks.
URI
http://pubs.kist.re.kr/handle/201004/66869
Appears in Collections:
KIST Publication > Conference Paper
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