Benefiting From Kinematic Redundancy Alongside Mono- and Biarticular Parallel Compliances for Energy Efficiency in Cyclic Tasks

Bidgoly, Hamed Jalaly; Parsa, Atoosa; Yazdanpanah, Mohammad Javad; Ahmadabadi, Majid Nili

doi:10.1109/tro.2017.2705052

Cited by 16 publications

(13 citation statements)

References 30 publications

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“…The use of polynomials to parameterize the joint trajectory and spring torque profiles is suggested by H.J. Bidgoly et al in Reference [73]. In contrast to Reference [102], the authors adopt one polynomial (with a degree to be determined by the designer) for all the time interval.…”

Section: Methods Based On Parametrization Through Basis Functionsmentioning

confidence: 99%

“…The effectiveness of such springs in serial manipulators to perform pick-and-place operations are investigated by G. Lu et al [72] and H.J. Bidgoly et al [73], with different conclusions. In the case of a variable linear bi-articular spring added on a SCARA robot, G. Lu et al [72] conclude that such a spring alone cannot effectively save energy.…”

Section: Parallel Compliance Elementsmentioning

confidence: 99%

“…Conversely, H.J. Bidgoly et al [73] assert that bi-articular spring contribute more in the actuation cost minimization with respect to mono-articular springs, in the case of a redundant 4-DOF serial manipulator with non-linear mono-and bi-articular springs.…”

Section: Parallel Compliance Elementsmentioning

confidence: 99%

“…Generally speaking, when there are requirements on the task to execute, it is always necessary to modify the system to fulfill them. The adaptation of the system to perform a given periodic task can be indicated as natural dynamic modification [73].…”

Section: Design Of Desired Natural Dynamicsmentioning

confidence: 99%

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Natural Motion for Energy Saving in Robotic and Mechatronic Systems

et al. 2019

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Energy saving in robotic and mechatronic systems is becoming an evermore important topic in both industry and academia. One strategy to reduce the energy consumption, especially for cyclic tasks, is exploiting natural motion. We define natural motion as the system response caused by the conversion of potential elastic energy into kinetic energy. This motion can be both a forced response assisted by a motor or a free response. The application of the natural motion concepts allows for energy saving in tasks characterized by repetitive or cyclic motion. This review paper proposes a classification of several approaches to natural motion, starting from the compliant elements and the actuators needed for its implementation. Then several approaches to natural motion are discussed based on the trajectory followed by the system, providing useful information to the researchers dealing with natural motion.

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Section: Methods Based On Parametrization Through Basis Functionsmentioning

confidence: 99%

Section: Parallel Compliance Elementsmentioning

confidence: 99%

Section: Parallel Compliance Elementsmentioning

confidence: 99%

Section: Design Of Desired Natural Dynamicsmentioning

confidence: 99%

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Natural Motion for Energy Saving in Robotic and Mechatronic Systems

et al. 2019

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“…SEA or PAM, realize biarticularity. Often, engineers use the structural compliance or muscle moment arms as design parameters to generate a desired leg behaviour [40,117,124,142,143,174]. In assistive devices, like prostheses or exoskeletons, walking economy of the wearer or efficiency of the device could be improved [155,156,162,167].…”

Section: Applicationsmentioning

confidence: 99%

Biarticular muscles in light of template models, experiments and robotics: a review

Schumacher

Sharbafi

Seyfarth

et al. 2020

J. R. Soc. Interface.

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Leg morphology is an important outcome of evolution. A remarkable morphological leg feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from different fields of research suggest a less coherent understanding of the muscles' functionality in cyclic, sagittal plane locomotion. We structured this review of biarticular muscle function by reflecting biomechanical template models, human experiments and robotic system designs. Within these approaches, we surveyed the contribution of biarticular muscles to the locomotor subfunctions (stance, balance and swing). While mono-and biarticular muscles do not show physiological differences, the reviewed studies provide evidence for complementary and locomotor subfunction-specific contributions of mono-and biarticular muscles. In stance, biarticular muscles coordinate joint movements, improve economy (e.g. by transferring energy) and secure the zig-zag configuration of the leg against joint overextension. These commonly known functions are extended by an explicit role of biarticular muscles in controlling the angular momentum for balance and swing. Human-like leg arrangement and intrinsic (compliant) properties of biarticular structures improve the controllability and energy efficiency of legged robots and assistive devices. Future interdisciplinary research on biarticular muscles should address their role for sensing and control as well as non-cyclic and/or non-sagittal motions, and non-static moment arms. royalsocietypublishing.org/journal/rsif J. R. Soc. Interface 17: 20180413 royalsocietypublishing.org/journal/rsif J. R. Soc. Interface 17: 20180413

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