Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots

Roozing, Wesley; Ren, Zeyu; Tsagarakis, Nikos G.

doi:10.1109/icra.2018.8460493

Cited by 15 publications

(13 citation statements)

References 26 publications

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“…Roozing et al (2016b) further expanded the work and proposed an integrated control strategy that actively utilized both branches, and experimentally demonstrated a 65% reduction in electrical power consumption when compared to conventional SEA. Roozing et al (2018) presented the development of a semi-anthropomorphic 3-DOF leg design, where series elastic actuation units are complemented with parallel high efficiency energy storage branches. Based on the earlier work in Roozing et al (2016a), three exchangeable actuation configurations were described, where the energy efficiency achieved by parallel elasticity branches in mono-and bi-articulated configurations is demonstrated, as compared to a series-elastic-only configuration as a baseline.…”

Section: Asymmetric Configurationmentioning

confidence: 99%

“…Roozing et al ( 2018 ) presented the development of a semi-anthropomorphic 3-DOF leg design, where series elastic actuation units are complemented with parallel high efficiency energy storage branches. Based on the earlier work in Roozing et al ( 2016a ), three exchangeable actuation configurations were described, where the energy efficiency achieved by parallel elasticity branches in mono- and bi-articulated configurations is demonstrated, as compared to a series-elastic-only configuration as a baseline.…”

Section: Compliant Actuationmentioning

confidence: 99%

“…Additionally, it can increase peak torque output and assist in explosive motions such as push-off during running. The leg presented in Roozing et al ( 2018 ) performed a set of squat motion in three different configurations: without parallel elastic storage, and with parallel elasticity in mono-articulated and in bi-articulated configurations, with overall masses of 7.57, 9.14, and 9.21 kg, respectively, and exhibiting 33.1, 15.4, and 13.2 W electrical motor power when lifting 20 kg by 25.6 cm. On the other hand, humans 4 consume approximately 41, 53, and 54 W to perform a similar squat motion, for the overall mass of afore-mentioned configurations.…”

Section: Compliant Actuationmentioning

confidence: 99%

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An Overview on Principles for Energy Efficient Robot Locomotion

et al. 2018

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Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.

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Section: Asymmetric Configurationmentioning

confidence: 99%

Section: Compliant Actuationmentioning

confidence: 99%

Section: Compliant Actuationmentioning

confidence: 99%

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An Overview on Principles for Energy Efficient Robot Locomotion

et al. 2018

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“…Consequently, the biarticular muscle mechanism enables the high efficiency and performance of the human lower extremity movement. This high efficiency has been theoretically (Oh et al, 2011) analyzed and evaluated through experiments (Choi et al, 2016; Roozing et al, 2018).…”

Section: Methodsmentioning

confidence: 99%

Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg

Lee

2019

Front. Neurorobot.

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The mass-spring system-like behavior is a powerful analysis tool to simplify human running/locomotion and is also known as the Spring Loaded Inverted Pendulum (SLIP) model. Beyond being just an analysis tool, the SLIP model is utilized as a template for implementing human-like locomotion by using the articulated robot. Since the dynamics of the articulated robot exhibits complicated behavior when projected into the operational space of the SLIP template, various considerations are required, from the robot's mechanical design to its control and analysis. Hence, the required technologies are the realization of pure mass-spring behavior during the interaction with the ground and the robust position control capability in the operational space of the robot. This paper develops a robot leg driven by the Series Elastic Actuator (SEA), which is a suitable actuator system for interacting with the environment, such as the ground. A robust hybrid control method is developed for the SEA-driven robot leg to achieve the required technologies. Furthermore, the developed robot leg has biarticular coordination, which is a human-inspired design that can effectively transmit the actuator torque to the operational space. This paper also employs Rotating Workspace (RW), which specializes in the control of the biarticulated robots. Various experiments are conducted to verify the performance of the developed robot leg with the control methodology.

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“…In this section, we present a simulation study on the model of a planar 3-DoF leg prototype which was recently developed Roozing et al ( 2018 ). The prototype follows the same design concepts as in Roozing et al ( 2015 ) and Roozing et al ( 2016 ), with all joints driven by torque-controlled series-elastic actuators, augmented with parallel compliant branches with adjustable pretension.…”

Section: Simulation Studymentioning

confidence: 99%

Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots

Roozing

2018

Front. Robot. AI

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Considerable advances in robotic actuation technology have been made in recent years. Particularly the use of compliance has increased, both as series elastic elements as well as in parallel to the main actuation drives. This work focuses on the model formulation and control of compliant actuation structures including multiple branches and multiarticulation, and significantly contributes by proposing an elegant modular formulation that describes the energy exchange between the compliant elements and articulated multibody robot dynamics using the concept of power flows, and a single matrix that describes the entire actuation topology. Using this formulation, a novel gradient descent based control law is derived for torque control of compliant actuation structures with adjustable pretension, with proven convexity for arbitrary actuation topologies. Extensions toward handling unidirectionality of elastic elements and joint motion compensation are also presented. A simulation study is performed on a 3-DoF leg model, where series-elastic main drives are augmented by parallel elastic tendons with adjustable pretension. Two actuation topologies are considered, one of which includes a biarticulated tendon. The data demonstrate the effectiveness of the proposed modeling and control methods. Furthermore, it is shown the biarticulated topology provides significant benefits over the monoarticulated arrangement.

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Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots

Cited by 15 publications

References 26 publications

An Overview on Principles for Energy Efficient Robot Locomotion

An Overview on Principles for Energy Efficient Robot Locomotion

Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg

Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots

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