التفاصيل البيبلوغرافية
| العنوان: |
Computational design towards energy efficient optimization in overconstrained robotic limbs. |
| المؤلفون: |
Yuping Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan, Fang Wan, Chaoyang Song |
| المصدر: |
Journal of Computational Design & Engineering; Oct2023, Vol. 10 Issue 5, p1941-1956, 16p |
| مستخلص: |
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. [ABSTRACT FROM AUTHOR] |
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| قاعدة البيانات: |
Complementary Index |