Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and el...Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.展开更多
Benefit from the high payload-to-weight ratio, parallel robots are expected to have a high potential for energy savings. However,it is a challenging issue to evaluate the energy efficiency of parallel robots with a qu...Benefit from the high payload-to-weight ratio, parallel robots are expected to have a high potential for energy savings. However,it is a challenging issue to evaluate the energy efficiency of parallel robots with a quantitative method. Quantitative energy efficiency evaluation methods include energy efficiency evaluation models and indices which mathematically describe the relationship between energy consumers in models and design variables of robots, such as geometry, mass and inertia parameters.Considering the structural features of parallel robots, the chains and the end effectors are identified as two separated energy consumers. Besides, the chains in parallel robots are identified as a transmission system which transfers energy from drives to the end effectors. On this basis, an energy efficiency evaluation model considering the change rate of kinetic energy stored in chains is built. The kinetic energy change rate of chains is influenced by design variables of robots as well as motion of the end effector.In order to give a quantitative description of energy efficiency performance of parallel robots, indices considering arbitrary velocity vector of the end effector are proposed. The evaluation method is suitable for all kinds of parallel robots with various motion conditions. Furthermore, the method can be used to optimize machining parameters and guide the design of energyefficient machines.展开更多
Herein,a control method based on the optimal energy efficiency of a hydraulic quadruped robot was proposed,which not only realizes the optimal energy efficiency of flying trot gait but also ensures the stability of hi...Herein,a control method based on the optimal energy efficiency of a hydraulic quadruped robot was proposed,which not only realizes the optimal energy efficiency of flying trot gait but also ensures the stability of high-speed movement.Concretely,the energy consumption per unit distance was adopted as the energy efficiency evaluation index based on the constant pressure oil supply characteristics of the hydraulic system,and the global optimization algorithm was adopted to solve the optimal parameters.Afterward,the gait parameters that affect the energy efficiency of quadruped were analyzed and the mapping relationship between each parameter and energy efficiency was captured,so as to select the optimum combination of energy efficiency parameters,which is significant to improve endurance capability.Furthermore,to ensure the stability of the high-speed flying trot gait motion of the hydraulic quadruped robot,the active compliance control strategy was employed.Lastly,the proposed method was successfully verified by simulations and experiments.The experimental results reveal that the flying trot gait of the hydraulic quadruped robot can be stably controlled at a speed of 2.2 m/s.展开更多
Power sources and energy-harvesting schemes are still grand challenges for soft robots.Notably,compared with other power sources,triboelectric nanogenerators(TENGs)have shown great potential because of their low manuf...Power sources and energy-harvesting schemes are still grand challenges for soft robots.Notably,compared with other power sources,triboelectric nanogenerators(TENGs)have shown great potential because of their low manufacturing and fabrication costs,outstanding resilience,remarkable stability,and environmental friendliness.Herein,a triboelectric effect-driven piezoelectric soft robot(TEPSR)system is proposed,which integrates a rotary freestanding triboelectric nanogenerator(RFTENG)to drive a soft robot comprising a piezoelectric unimorph and electrostatic footpads.Based on the natural triboelectrification,through converting mechanical energy into electricity,TENG provides a unique approach for actuation and manipulation of the soft robot.The perfect combination provides the most straightforward way for creating a self-powered system.Experimentally,under the power of RF-TENG,the soft robot reaches a maximum moving speed of 10 cm per second and a turning rate of 89.7°per second,respectively.The actuation and manipulation demonstration are intuitively accomplished by maneuvering the robot around a maze with a 71 cm track within 28 s.For autonomous feedback controls,one practical application is carrying two infrared sensors on board to realize obstacle avoidance in an unstructured environment.Moreover,a micro-camera was equipped with the soft robot to provide real-time“first-person”video streaming,enhancing its detection capability.展开更多
Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different speeds.Inspired by this character,an efficient adaptive diagonal gait locomotion controller i...Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different speeds.Inspired by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this paper.As the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of gaits.The optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired motion.The gait and step frequency of the robot can automatically adapt to the change of speed.Several experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/s.The ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the ground.Experiments have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.展开更多
Energy efficiency is important in the performance of quadruped robots and mammals. Flexible spine motion generally exists in quadruped mammals. This paper mainly explores the effect of flexible spinal motion on energy...Energy efficiency is important in the performance of quadruped robots and mammals. Flexible spine motion generally exists in quadruped mammals. This paper mainly explores the effect of flexible spinal motion on energy efficiency. Firstly, a planar simplified model of the quadruped robot with flexible spine motion is introduced and two simulation experiments are carried out. The results of simulation experiments demonstrate that both spine motion and spinal flexibility can indeed increase energy efficiency, and the curve of energy efficiency change along with spinal stiffness is acquired. So, in order to obtain higher energy efficiency, quadruped robots should have flexible spine motion. In a certain speed, there is an optimal spinal stiffness which can make energy efficiency to be the best. Secondly, a planar quadruped robot with flexible spine motion is designed and the conclusions drawn in the two simulation experiments are verified. Lastly, the third simulation experiment is carried out to explore the relationship between the optimal spinal stiffness, speed and total mass. The optimal spinal stiffness increases with both speed and total mass, which has important guiding significance for adjusting the spinal stiffness of quadruped robots to make them reach the best energy efficiency.展开更多
Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern ...Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern Generator (CPG) based locomotion control and energy consumption of a miniature self-propelled robotic fish. To this end, a real-time energy measurement system compatible with the CPG-based locomotion control is firstly built on an embedded system. Then, tests are conducted on the untethered actual robot. The results indicate that different CPG feature parameters involving amplitude, frequency, and phase lag play distinct roles in energy consumption under different swimming gaits. Specifically, energy consumption is positively correlated with the changes in the amplitude and frequency of CPGs, whereas the phase lag of CPGs has little influence on the energy consumption. It may offer important inspiration for improving energy efficiency and locomotion performance of versatile swimming gaits.展开更多
Redundancy facilitates some of the most remarkable capabilities of humans,and is therefore omni-present in our physiology.The relationship between redundancy in robotics and biology is investigated in detail on the Se...Redundancy facilitates some of the most remarkable capabilities of humans,and is therefore omni-present in our physiology.The relationship between redundancy in robotics and biology is investigated in detail on the Series Elastic Dual-Motor Actuator(SEDMA),an actuator inspired by the kinematic redundancy exhibited by myofibrils.The actuator consists of two motors coupled to a single spring at the output.Such a system has a redundant degree of freedom,which can be exploited to optimize aspects such as accuracy,impedance,fault-tolerance and energy efficiency.To test its potential for human-like motions,the SEDMA actuator is implemented in a hopping robot.Experiments on a physical demonstrator show that the robot's movement patterns resemble human squat jumps.We conclude that robots with bio-inspired actuator designs facilitate human-like movement,although current technical limitations may prevent them from reaching the same dynamic and energetic performance.展开更多
African ostrich can run for 30 min at a speed of 60 km/h in the desert,and its hindlimb has excellent energy saving and vibration damping performance.In order to realize the energy⁃efficient and vibration⁃damping desi...African ostrich can run for 30 min at a speed of 60 km/h in the desert,and its hindlimb has excellent energy saving and vibration damping performance.In order to realize the energy⁃efficient and vibration⁃damping design of the leg mechanism of the legged robot,the principle of engineering bionics was applied.According to the passive rebound characteristic of the intertarsal joint of the ostrich foot and the characteristic of variable output stiffness of the ostrich hindlimb,combined with the proportion and size of the structure of the ostrich hindlimb,the bionic rigid⁃flexible composite legged robot single⁃leg structure was designed.The locomotion of the bionic mechanical leg was simulated by means of ADAMS.Through the motion simulation analysis,the influence of the change of the inner spring stiffness coefficient within a certain range on the vertical acceleration of the body centroid and the motor power consumption was studied,and the optimal stiffness coefficient of the inner spring was obtained to be 200 N/mm,and it was further verified that the inner and outer spring mechanism could effectively reduce the energy consumption of the mechanical leg.Simulation results show that the inner and outer spring mechanism could effectively reduce the motor energy consumption by about 72.49%.展开更多
基金supported by National Natural Science Foundation of China(Grant No.51375289)Shanghai Municipal National Natural Science Foundation of China(Grant No.13ZR1415500)Innovation Fund of Shanghai Education Commission of China(Grant No.13YZ020)
文摘Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.
基金supported by the National Natural Science Foundation of China(Grant Nos.51675290 and 51425501)Beijing Municipal Science and Technology Commission(Grant No.Z181100003118003)
文摘Benefit from the high payload-to-weight ratio, parallel robots are expected to have a high potential for energy savings. However,it is a challenging issue to evaluate the energy efficiency of parallel robots with a quantitative method. Quantitative energy efficiency evaluation methods include energy efficiency evaluation models and indices which mathematically describe the relationship between energy consumers in models and design variables of robots, such as geometry, mass and inertia parameters.Considering the structural features of parallel robots, the chains and the end effectors are identified as two separated energy consumers. Besides, the chains in parallel robots are identified as a transmission system which transfers energy from drives to the end effectors. On this basis, an energy efficiency evaluation model considering the change rate of kinetic energy stored in chains is built. The kinetic energy change rate of chains is influenced by design variables of robots as well as motion of the end effector.In order to give a quantitative description of energy efficiency performance of parallel robots, indices considering arbitrary velocity vector of the end effector are proposed. The evaluation method is suitable for all kinds of parallel robots with various motion conditions. Furthermore, the method can be used to optimize machining parameters and guide the design of energyefficient machines.
文摘Herein,a control method based on the optimal energy efficiency of a hydraulic quadruped robot was proposed,which not only realizes the optimal energy efficiency of flying trot gait but also ensures the stability of high-speed movement.Concretely,the energy consumption per unit distance was adopted as the energy efficiency evaluation index based on the constant pressure oil supply characteristics of the hydraulic system,and the global optimization algorithm was adopted to solve the optimal parameters.Afterward,the gait parameters that affect the energy efficiency of quadruped were analyzed and the mapping relationship between each parameter and energy efficiency was captured,so as to select the optimum combination of energy efficiency parameters,which is significant to improve endurance capability.Furthermore,to ensure the stability of the high-speed flying trot gait motion of the hydraulic quadruped robot,the active compliance control strategy was employed.Lastly,the proposed method was successfully verified by simulations and experiments.The experimental results reveal that the flying trot gait of the hydraulic quadruped robot can be stably controlled at a speed of 2.2 m/s.
基金supported by Shenzhen Fundamental Research Funds(No.JCYJ20220530143011026)Science and Technology Plan projects in Sichuan Province(No.2020YFSY0050).
文摘Power sources and energy-harvesting schemes are still grand challenges for soft robots.Notably,compared with other power sources,triboelectric nanogenerators(TENGs)have shown great potential because of their low manufacturing and fabrication costs,outstanding resilience,remarkable stability,and environmental friendliness.Herein,a triboelectric effect-driven piezoelectric soft robot(TEPSR)system is proposed,which integrates a rotary freestanding triboelectric nanogenerator(RFTENG)to drive a soft robot comprising a piezoelectric unimorph and electrostatic footpads.Based on the natural triboelectrification,through converting mechanical energy into electricity,TENG provides a unique approach for actuation and manipulation of the soft robot.The perfect combination provides the most straightforward way for creating a self-powered system.Experimentally,under the power of RF-TENG,the soft robot reaches a maximum moving speed of 10 cm per second and a turning rate of 89.7°per second,respectively.The actuation and manipulation demonstration are intuitively accomplished by maneuvering the robot around a maze with a 71 cm track within 28 s.For autonomous feedback controls,one practical application is carrying two infrared sensors on board to realize obstacle avoidance in an unstructured environment.Moreover,a micro-camera was equipped with the soft robot to provide real-time“first-person”video streaming,enhancing its detection capability.
基金supported in part by the National Key Research and Development Program of China[Grant No.2020AAA0108900]the National Natural Science Foundation of China[No.91948201,62003190,62203268,61973185]+1 种基金the Open Research Projects of Zhejiang Lab(No.2022NB0AB06)the National Natural Science Foundation of Shandong Province of China[No.ZR2022QF027].
文摘Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different speeds.Inspired by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this paper.As the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of gaits.The optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired motion.The gait and step frequency of the robot can automatically adapt to the change of speed.Several experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/s.The ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the ground.Experiments have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.
文摘Energy efficiency is important in the performance of quadruped robots and mammals. Flexible spine motion generally exists in quadruped mammals. This paper mainly explores the effect of flexible spinal motion on energy efficiency. Firstly, a planar simplified model of the quadruped robot with flexible spine motion is introduced and two simulation experiments are carried out. The results of simulation experiments demonstrate that both spine motion and spinal flexibility can indeed increase energy efficiency, and the curve of energy efficiency change along with spinal stiffness is acquired. So, in order to obtain higher energy efficiency, quadruped robots should have flexible spine motion. In a certain speed, there is an optimal spinal stiffness which can make energy efficiency to be the best. Secondly, a planar quadruped robot with flexible spine motion is designed and the conclusions drawn in the two simulation experiments are verified. Lastly, the third simulation experiment is carried out to explore the relationship between the optimal spinal stiffness, speed and total mass. The optimal spinal stiffness increases with both speed and total mass, which has important guiding significance for adjusting the spinal stiffness of quadruped robots to make them reach the best energy efficiency.
基金Acknowledgment This work was supported by the National Natural Science Foundation of China (Nos. 61725305, 61573226, 61763042, 61663040) and the Beijing Natural Science Foundation (Nos. 4161002, 4164103).
文摘Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern Generator (CPG) based locomotion control and energy consumption of a miniature self-propelled robotic fish. To this end, a real-time energy measurement system compatible with the CPG-based locomotion control is firstly built on an embedded system. Then, tests are conducted on the untethered actual robot. The results indicate that different CPG feature parameters involving amplitude, frequency, and phase lag play distinct roles in energy consumption under different swimming gaits. Specifically, energy consumption is positively correlated with the changes in the amplitude and frequency of CPGs, whereas the phase lag of CPGs has little influence on the energy consumption. It may offer important inspiration for improving energy efficiency and locomotion performance of versatile swimming gaits.
基金Tom Verstraten is a postdoctoral fellow of the Re-search Foundation Flanders-Fonds voor Wetenschap-pelijk Onderzoek(FWO).Part of this work was funded by the European Commission starting grant SPEAR(no.337596)and the DFG grants BE 5729/2 and BE 5729/1.We would like to thank Rustam Galljamov and Philipp Overath for their assistance with the demonstrator and the experiments.
文摘Redundancy facilitates some of the most remarkable capabilities of humans,and is therefore omni-present in our physiology.The relationship between redundancy in robotics and biology is investigated in detail on the Series Elastic Dual-Motor Actuator(SEDMA),an actuator inspired by the kinematic redundancy exhibited by myofibrils.The actuator consists of two motors coupled to a single spring at the output.Such a system has a redundant degree of freedom,which can be exploited to optimize aspects such as accuracy,impedance,fault-tolerance and energy efficiency.To test its potential for human-like motions,the SEDMA actuator is implemented in a hopping robot.Experiments on a physical demonstrator show that the robot's movement patterns resemble human squat jumps.We conclude that robots with bio-inspired actuator designs facilitate human-like movement,although current technical limitations may prevent them from reaching the same dynamic and energetic performance.
基金Sponsored by the National Natural Science Foundation of China(Grant Nos.51675221 and 91748211)the Science and Technology Development Planning Project of Jilin Province of China(Grant No.20180101077JC)the Science and Technology Research Project in the 13th Five⁃Year Period of Education Department of Jilin Province(Grant No.JJKH20190134KJ).
文摘African ostrich can run for 30 min at a speed of 60 km/h in the desert,and its hindlimb has excellent energy saving and vibration damping performance.In order to realize the energy⁃efficient and vibration⁃damping design of the leg mechanism of the legged robot,the principle of engineering bionics was applied.According to the passive rebound characteristic of the intertarsal joint of the ostrich foot and the characteristic of variable output stiffness of the ostrich hindlimb,combined with the proportion and size of the structure of the ostrich hindlimb,the bionic rigid⁃flexible composite legged robot single⁃leg structure was designed.The locomotion of the bionic mechanical leg was simulated by means of ADAMS.Through the motion simulation analysis,the influence of the change of the inner spring stiffness coefficient within a certain range on the vertical acceleration of the body centroid and the motor power consumption was studied,and the optimal stiffness coefficient of the inner spring was obtained to be 200 N/mm,and it was further verified that the inner and outer spring mechanism could effectively reduce the energy consumption of the mechanical leg.Simulation results show that the inner and outer spring mechanism could effectively reduce the motor energy consumption by about 72.49%.