Effects of Passive Biarticular Muscles on Walking Performance for Bipedal Robots

Pelit, Mustafa Melih; Chang, Junho; Yamakita, Masaki

doi:10.1109/aim46487.2021.9517354

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…Indeed, if (11) is chosen as the cost function instead of (12), the optimal spring configurations and the trajectory would be different depending on the actuators used. Therefore, the optimization would lose its generality.…”

Section: Actuator Energy Consumption and Torque Requirementsmentioning

confidence: 99%

“…"Biarticular" refers to the connection of two joints, which can be done by either an actuated or a passive component like a spring. 10,11 BA offers the possibility to transfer mechanical power between joints, 12 in particular from proximal toward distal joints, 13 leading to an improvement in energy efficiency. 14 For example, Oh et al 15 have shown that having biarticular muscles helps to increase the energy efficiency for human and animal motion.…”

Section: Introductionmentioning

confidence: 99%

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Minimizing torque requirements in robotic manipulation through elastic elements optimization in a physics engine

Marchal,

Marzougui,

Furnémont

et al. 2024

International Journal of Advanced Robotic Systems

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The increasing number of robots and the rising cost of electricity have spurred research into energy-reducing concepts in robotics. One such concept, elastic actuation, introduces compliant elements such as springs into the robot structure. This article presents a comparative analysis between two types of elastic actuation, namely, monoarticular parallel elastic actuation and biarticular parallel elastic actuation, and demonstrates an end-to-end pipeline for their optimization. Starting from the real-world system identification of an RRR robotic arm, we calibrate a simulation model in a general-purpose physics engine and employ in silico evolutionary optimization to co-optimize spring configurations and trajectories for a pick-and-place task. Finally, we successfully transfer the in silico optimized elastic elements and trajectory to the real-world prototype. Our results substantiate the ability of elastic actuation to reduce the actuators’ torque requirements heavily. In contrast to previous work, we highlight the superior performance of the biarticular variant over the monoarticular configuration. Furthermore, we show that a combination of both proves most effective. This work provides valuable insights into the torque-reducing use of elastic actuation and demonstrates an actuator-invariant in silico optimization methodology capable of bridging the sim2real gap.

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Section: Actuator Energy Consumption and Torque Requirementsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Minimizing torque requirements in robotic manipulation through elastic elements optimization in a physics engine

Marchal,

Marzougui,

Furnémont

et al. 2024

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Another concept, based on the musculature of humans and animals, is Biarticular Actuation (BA). As its name suggests, BA means simultaneous actuation of two joints of the robot by only one actuator [11] or a passive component like a spring [12]. BA offers the possibility to transfer mechanical power between joints [13], in particular from proximal towards distal joints [14], leading to an improvement in energy efficiency [15].…”

Section: Introductionmentioning

confidence: 99%

Optimization of Mono- and Bi-Articular Parallel Elastic Elements for a Robotic Arm Performing a Pick-and-Place Task

Marchal

Furnémont

Vanderborght

et al. 2023

IEEE Robot. Autom. Lett.

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Actuation concepts such as Series Elastic Actuation (SEA), Parallel Elastic Actuation (PEA), and Biarticular Actuation (BA), which introduce elastic elements into the structure, have the potential to reduce the electrical energy consumption of a robot. This paper presents an optimization of the arrangement of springs for a 3 degrees of freedom robotic arm, with the aim of decreasing the electrical energy consumption for a given pick-and-place task. Through simulations and experimental validation, we show that the optimal configuration in terms of electrical energy consumption and complexity consists of rigid actuation on joint 1 and PEAs on joints 2 and 3. With this configuration, root mean square (RMS) and peak load torques for a specific pick-and-place task can be reduced respectively by up to 43% and 44% for joint 2, and by 15% and 21% for joint 3 compared to the configuration without springs.

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Terrain-Blind Humanoid Walking on Rough Terrain with Trajectory Optimization and Biarticular Springs

Pelit

Yamakita

2023

2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Effects of Passive Biarticular Muscles on Walking Performance for Bipedal Robots

Cited by 4 publications

References 9 publications

Minimizing torque requirements in robotic manipulation through elastic elements optimization in a physics engine

Minimizing torque requirements in robotic manipulation through elastic elements optimization in a physics engine

Optimization of Mono- and Bi-Articular Parallel Elastic Elements for a Robotic Arm Performing a Pick-and-Place Task

Terrain-Blind Humanoid Walking on Rough Terrain with Trajectory Optimization and Biarticular Springs

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