Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity

Verstraten, Tom; Schumacher, Christian; Furnémont, Raphaël; Seyfarth, André; Beckerle, Philipp

doi:10.1007/s42235-020-0062-z

Cited by 4 publications

(3 citation statements)

References 57 publications

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“…The coordinates of the foot point P i can be determined by the proportional coefficient α i in the Equation (17). We will typically want to ensure that the robot has a safety margin d sa f e [25].…”

Section: I-th Linkmentioning

confidence: 99%

An Asymmetric Collision-Free Optimal Trajectory Planning Method for Three DOF Industrial Robotic Arms

Jiang

Mao

et al. 2023

Symmetry

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To improve the speed and dynamic adaptability of robotic arm trajectory planning, a collision-free optimal trajectory planning method combining non-uniform adaptive time meshing and bounding box collision detection was proposed. First, the dynamics and objective function of the asymmetric industrial robotic arm with three degrees of freedom (DOF) was formulated in the form of the dynamic optimization problem. Second, the control vector parameterization (CVP) was improved to enhance the computational performance of the problem. The discrete grid was adaptively adjusted according the trend of control variables. Then, a quick and effective collision detection strategy was used to avoid obstacles and to speed up calculation efficiency. The non-collision constraint is built by transforming the collision detection into the distance between two points, and then is combined into the dynamic optimization problem. The solution of the new optimization problem with the improved CVP leads to the higher calculation performance and the avoidance of obstacles. Lastly, the Siemens Manutec R3 robotic arm is taken as an example to verify the effectiveness of the planning method. The approach not only reduces computation time but also maintains accurate calculations, so that optimal trajectory can be selected from symmetric paths near the obstacles. When weights were set as λ1 = λ2 = 0.5, the solution efficiency was improved by 33%, and the minimum distance between the robotic arm and obstacle could be 0.08 m, which ensured that there was no collision.

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Section: I-th Linkmentioning

confidence: 99%

An Asymmetric Collision-Free Optimal Trajectory Planning Method for Three DOF Industrial Robotic Arms

Jiang

Mao

et al. 2023

Symmetry

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“…In addition, animals have high redundancy in actuators with multiple muscles being used to drive an input [65] as well as redundancy within individual muscles through hierarchical muscle bundles [66]. A bioinspired redundant actuator system has recently been developed [67]. However, there is still much scope for improving the performance of large-strain engineering actuators.…”

Section: Future Potential Bioinspired Linkage Designsmentioning

confidence: 99%

A review of linkage mechanisms in animal joints and related bioinspired designs

Burgess¹

2021

Bioinspir. Biomim.

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This paper presents a review of biological mechanical linkage mechanisms. One purpose is to identify the range of kinematic functions that they are able to perform. A second purpose is to review progress in bioinspired designs. Ten different linkage mechanisms are presented. They are chosen because they cover a wide range of functionality and because they have potential for bioinspired design. Linkage mechanisms enable animal joints to perform highly sophisticated and optimised motions. A key function of animal linkage mechanisms is the optimisation of actuator location and mechanical advantage. This is crucially important for animals where space is highly constrained. Many of the design features used by engineers in linkage mechanisms are seen in nature, such as short coupler links, extended bars, elastic energy storage and latch mechanisms. However, animal joints contain some features rarely seen in engineering such as integrated cam and linkage mechanisms, nonplanar four-bar mechanisms, resonant hinges and highly redundant actuators. The extreme performance of animal joints together with the unusual design features makes them an important area of investigation for bioinspired designs. Whilst there has been significant progress in bioinspiration, there is the potential for more, especially in robotics where compactness is a key design driver.

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“…Kinematically redundant actuators offer the potential to reduce energy consumption or provide a wider operating range than common actuators as discussed in detail in [21], and [22]. Additionally, we proposed a design methodology and selection of its components of the shelve to have a light and energy-efficient solution in [23].…”

Section: Introductionmentioning

confidence: 99%

Mitigating Collision Forces and Improving Response Performance in Human-Robot Interaction by Using Dual-Motor Actuators

Khorasani,

Usman,

Hubert

et al. 2024

IEEE Robot. Autom. Lett.

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In collaborative robotics, the safety of humans interacting with cobots is crucial. There is a need for collaborative robots that can move quickly while still being safe. This paper introduces the use of a kinematically redundant actuator in impedance control mode to reduce collision forces, aiming to improve both the safety and efficiency of collaborative robots. By distributing power across multiple drive-trains, each with unique properties such as reflected inertia, the actuator's behavior during collisions is optimized, which is key for safe interactions. Using theoretical analysis and practical experiments, we evaluate the response performance of the redundant actuator in various collision situations according to ISO/TS 15066, comparing it with that of a standard single-drive actuator. Our experiments show that the redundant actuator significantly lowers collision forces, with a 44% reduction in peak forces and an 81% decrease in transferred impulses during collisions. The paper concludes by offering a design parameter recommendation for designing actuators with reduced reflected inertia.

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Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity

Cited by 4 publications

References 57 publications

An Asymmetric Collision-Free Optimal Trajectory Planning Method for Three DOF Industrial Robotic Arms

An Asymmetric Collision-Free Optimal Trajectory Planning Method for Three DOF Industrial Robotic Arms

A review of linkage mechanisms in animal joints and related bioinspired designs

Mitigating Collision Forces and Improving Response Performance in Human-Robot Interaction by Using Dual-Motor Actuators

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