Energy-Efficient Monopod Running With a Large Payload Based on Open-Loop Parallel Elastic Actuation

Guenther, Fabian; Iida, Fumiya

doi:10.1109/tro.2016.2623342

Cited by 18 publications

(15 citation statements)

References 27 publications

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“…Impact modelling has a long history and many models come with inconsistencies in certain situations often due to the rigid body hypothesis. For a coefficient of restitution ε = 0, which is the case in this work and was tested in our previous investigations [6] and [15], the Newtonian kinematic impact law provides equivalent results to alternatives like Poisson's or Stronge's energetically consistent impact law even for noncollinear collisions with friction [16]. This will be especially important in the extension of this model with friction as will be discussed in Section III-C. To transition from constrained to unconstrained equations of motion we do not require any kinematic conditions, except that the impulsive force applied to the system is causing the ground contact point to have a velocity component which is pointing away from the ground.…”

Section: B Impulsive Transitionsmentioning

confidence: 99%

“…where the subscripts 0 and 1 indicate the initial state and the state after going through the forward dynamics (11) to (15), respectively. The first squared term in Equation (16) ensures that the angular velocity error is minimised, and the second squared term reduces the flywheel angular velocity error, i.e.…”

Section: A Finding Periodic Solutionsmentioning

confidence: 99%

“…Figure 4 conveys an important message, which is that fixedpoints exist for the described control method. It means that there exists periodic locomotion for which the torque not only accelerates the flywheel back to its initial speed at the take-off angle, but also makes up for the energy lost during collision, by re-accelerating the main body during stance phase as governed by the ODE (15). In other words, for any point in the state space above the white area there exists a fixedpoint control configuration β * .…”

Section: A Finding Periodic Solutionsmentioning

confidence: 99%

“…Ringrose [14] argues that a robot with a curved foot can be self-stabilised, meaning that no active feedback control is necessary for stable locomotion. Based on this principle, we have been exploring the influence of strictly convex foot shapes on hopping locomotion in robots like Cargo [15]. We found not only that stable and periodic locomotion can be achieved without any feedback control, but also that we can greatly decrease the energetic cost of locomotion.…”

Section: Introductionmentioning

confidence: 99%

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Efficient and Stable Locomotion for Impulse-Actuated Robots Using Strictly Convex Foot Shapes

Giardina

Iida

2018

IEEE Trans. Robot.

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Impulsive actuation enables robots to perform agile manoeuvres and surpass difficult terrain, yet its capacity to induce continuous and stable locomotion have not been explored. We claim that strictly convex foot shapes can improve impulse effectiveness (impulse used per travelled distance) and locomotion speed by facilitating periodicity and stability. To test this premise, we introduce a theoretical two-dimensional model based on rigidbody mechanics to prove stability. We then implement a more elaborate model in simulation to study transient behaviour and impulse effectiveness. Finally, we test our findings on a robot platform to prove their physical validity. Our results prove, that continuous and stable locomotion can be achieved in the strictly convex case of a disc with off-centred mass. In keeping with our theory, stable limit cycles of the off-centred disc outperform the theoretical performance of a cube in simulation and experiment, using up to 10 times less impulse per distance to travel at the same locomotion speed.

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Section: B Impulsive Transitionsmentioning

confidence: 99%

Section: A Finding Periodic Solutionsmentioning

confidence: 99%

Section: A Finding Periodic Solutionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Efficient and Stable Locomotion for Impulse-Actuated Robots Using Strictly Convex Foot Shapes

Giardina

Iida

2018

IEEE Trans. Robot.

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“…The new questions-indicates a Mechanical Cost of Transport, a non-dimensional measure for efficiency, of approximately 0.3, which is a bit better than some (Bigdog: 15, MITCheetah: 0.5 [130]) and a bit worse than others (ETH Monopod: 0.1 [55]). It is actually close to that of the cheetah (0.3, [154]).…”

Section: Energy-efficientmentioning

confidence: 97%

Energy-based and biomimetic robotics

Folkertsma¹

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PropositionsAccompanying PhD thesis "Energy-based and biomimetic robotics."1. Spineless biomimetic cheetah robots are a slight to nature. 2.A geometry-based look at synchronisation allows defining synchronicity and phase difference of arbitrary periodic systems. 3.The dynamic effect of a running cheetah's spine can be represented well by a single compliant element. 4.It is a welcome change to have a working prototype but no idea how it works, rather than a good theory but no functional prototype. 5.A new cost function should be introduced in optimal control:Since it takes the maximum over squared terms, people may finally talk about the "most optimal" solution without reprisal. 6.A good PhD thesis does not only report and document, but also teach and entertain. 7.If universities were serious about their education duty, they would find ways to value, stimulate and reward good teaching.8. "Defence" is not a synonym of "stage play"-having worked on their topic for four years, the PhD candidate should be given the proverbial third degree. 9.Trying to keep track of the state of the world through the news is futile: by definition, news is high-pass filtered; state reconstruction is subject to severe integration errors. 10.Nothing beats enharmonic humor, the intersection of puns and music. That's why you visit an optician when you don't D . This thesis was typeset with L A T E X; most images generated with the TikZ/pgf and pgfplots packages; it was maintained in a git/GitLab repository. And I bet you, dear, a penny, You say mani-(fold) like many, Which is wrong. Say rapier, pier, Tier (one who ties), but tier. -dr. Gerard Nolst Trenité,"The Chaos" (excerpt) SummaryThe cheetah is a truly wondrous beast: to catch its prey it hunts them down at speed and runs at sixty km-h at least! A stunning figure-nature's best, indeed.A legged robot has not yet come close. They stumble at a low velocity, or if one ever to the same speed rose, its lack of grace was an atrocity.For cheetah's high performing gaits we yearn, to be so fast, efficient, full of grace. From nature therefore we must try to learn, to reap from evolution's high-speed race.This plan makes sense, the logic sounds so smart! The only problem is now: where to start?The world around us runs on energy: the "lingua franca" 'cross domains of sorts. So E in this work features centrally and interactions go through power ports.This holds not solely for the physical, the presentation of the real-life thing, but also E is used for virtual: describing algorithms, like a spring.Control of port behaviour is the key. The flow and effort, always as a pair, determine interaction properly, as introduced by Hamilton of Éire.This holistic view sounds splendid; yet will this give us a working robot pet?VII A running cheetah's butt goes down and upthat is to say: the shoulder and the hip. So, looking at the motion in close-up, two hoppers are the legs that jump and skip.To replicate this with efficiency, in resonance-based running like a boss, avoiding energy-deficiency, we have to mini...

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Novel Multi‐configuration Elastic Actuator with Controllable Energy Flow and Power Modulation for Dynamic Energy Robot Systems

Wei,

Zhang,

Yang

et al. 2024

Advanced Intelligent Systems

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Designing actuators that can modulate power, achieve high energy efficiency, and ensure safe collision remains a challenge, especially for dynamic energy robot systems (DERS) with high‐performance requirements. Herein, a novel multi‐configuration elastic actuator (MCEA) is proposed based on a controllable planetary differential mechanism (PDM) with one power port from three springs. These springs, positioned between the inner gear ring and the fixed housing shell, are regulated by a single servo motor through a ratchet–pawl mechanism. This setup enables the springs to absorb energy during collisions, reducing impact and subsequently releasing this energy to boost power output. The inner gear ring functions as a controllable one‐way rotating element, acting either as an input or output for power. The MCEA's ability to manage power modulation and energy flow is demonstrated through experiments that highlight its potential for safe collision management, energy recycling, and power modulation. Experiment results indicate that the maximum output power of the MCEA in the proposed hybrid elastic actuation (HEA) mode is 8.05 times higher than that in the traditional actuation (TA) mode. A single‐legged robot with a four‐link mechanism is also built to validate the considerable performance in the application of legged robots, showing considerable adaptability and prospects for DERS.

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Energy-Efficient Monopod Running With a Large Payload Based on Open-Loop Parallel Elastic Actuation

Cited by 18 publications

References 27 publications

Efficient and Stable Locomotion for Impulse-Actuated Robots Using Strictly Convex Foot Shapes

Efficient and Stable Locomotion for Impulse-Actuated Robots Using Strictly Convex Foot Shapes

Energy-based and biomimetic robotics

Novel Multi‐configuration Elastic Actuator with Controllable Energy Flow and Power Modulation for Dynamic Energy Robot Systems

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