An Overview on Principles for Energy Efficient Robot Locomotion
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...
| Main Authors: | , , , , , , , , , , , , , , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2018-12-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/frobt.2018.00129/full |
| _version_ | 1831517236991361024 |
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| author | Navvab Kashiri Andy Abate Sabrina J. Abram Alin Albu-Schaffer Patrick J. Clary Monica Daley Salman Faraji Raphael Furnemont Manolo Garabini Hartmut Geyer Alena M. Grabowski Jonathan Hurst Jorn Malzahn Glenn Mathijssen David Remy Wesley Roozing Mohammad Shahbazi Surabhi N. Simha Jae-Bok Song Nils Smit-Anseeuw Stefano Stramigioli Bram Vanderborght Yevgeniy Yesilevskiy Nikos Tsagarakis |
| author_facet | Navvab Kashiri Andy Abate Sabrina J. Abram Alin Albu-Schaffer Patrick J. Clary Monica Daley Salman Faraji Raphael Furnemont Manolo Garabini Hartmut Geyer Alena M. Grabowski Jonathan Hurst Jorn Malzahn Glenn Mathijssen David Remy Wesley Roozing Mohammad Shahbazi Surabhi N. Simha Jae-Bok Song Nils Smit-Anseeuw Stefano Stramigioli Bram Vanderborght Yevgeniy Yesilevskiy Nikos Tsagarakis |
| author_sort | Navvab Kashiri |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-10T10:02:10Z |
| format | Article |
| id | doaj.art-52835f66c564432b81125db1f6ab12f1 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-10T10:02:10Z |
| publishDate | 2018-12-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-52835f66c564432b81125db1f6ab12f12022-12-22T01:53:19ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442018-12-01510.3389/frobt.2018.00129375742An Overview on Principles for Energy Efficient Robot LocomotionNavvab Kashiri0Andy Abate1Sabrina J. Abram2Alin Albu-Schaffer3Patrick J. Clary4Monica Daley5Salman Faraji6Raphael Furnemont7Manolo Garabini8Hartmut Geyer9Alena M. Grabowski10Jonathan Hurst11Jorn Malzahn12Glenn Mathijssen13David Remy14Wesley Roozing15Mohammad Shahbazi16Surabhi N. Simha17Jae-Bok Song18Nils Smit-Anseeuw19Stefano Stramigioli20Bram Vanderborght21Yevgeniy Yesilevskiy22Nikos Tsagarakis23Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, ItalyDynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United StatesDepartment of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC, CanadaRobotics and Mechatronics Center, German Aerospace Center, Oberpfaffenhofen, GermanyDynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United StatesStructure and Motion Laboratory, Royal Veterinary College, Hertfordshire, United KingdomBiorobotics Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, SwitzerlandRobotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, BelgiumCentro di Ricerca “Enrico Piaggio”, University of Pisa, Pisa, ItalyRobotics Institute, Carnegie Mellon University, Pittsburgh, PA, United States0Applied Biomechanics Lab, Department of Integrative Physiology, University of Colorado, Boulder, CO, United StatesDynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United StatesHumanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, ItalyRobotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium1Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United StatesHumanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, ItalyHumanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, ItalyDepartment of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC, Canada2Department of Mechanical Engineering, Korea University, Seoul, South Korea1Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States3Control Engineering group, University of Twente, Enschede, NetherlandsRobotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium1Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United StatesHumanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, ItalyDespite 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.https://www.frontiersin.org/article/10.3389/frobt.2018.00129/fullvariable impedance actuatorsenergy efficiencyenergeticscost of transportlocomotion principlesbio-inspired motions |
| spellingShingle | Navvab Kashiri Andy Abate Sabrina J. Abram Alin Albu-Schaffer Patrick J. Clary Monica Daley Salman Faraji Raphael Furnemont Manolo Garabini Hartmut Geyer Alena M. Grabowski Jonathan Hurst Jorn Malzahn Glenn Mathijssen David Remy Wesley Roozing Mohammad Shahbazi Surabhi N. Simha Jae-Bok Song Nils Smit-Anseeuw Stefano Stramigioli Bram Vanderborght Yevgeniy Yesilevskiy Nikos Tsagarakis An Overview on Principles for Energy Efficient Robot Locomotion Frontiers in Robotics and AI variable impedance actuators energy efficiency energetics cost of transport locomotion principles bio-inspired motions |
| title | An Overview on Principles for Energy Efficient Robot Locomotion |
| title_full | An Overview on Principles for Energy Efficient Robot Locomotion |
| title_fullStr | An Overview on Principles for Energy Efficient Robot Locomotion |
| title_full_unstemmed | An Overview on Principles for Energy Efficient Robot Locomotion |
| title_short | An Overview on Principles for Energy Efficient Robot Locomotion |
| title_sort | overview on principles for energy efficient robot locomotion |
| topic | variable impedance actuators energy efficiency energetics cost of transport locomotion principles bio-inspired motions |
| url | https://www.frontiersin.org/article/10.3389/frobt.2018.00129/full |
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