Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking
The design of bipedal robots is generally fulfilled through considering a sequential design approach, where a synergistic relationship between its structure and control features is not promoted. Hence, a novel integrated structure-control design approach is proposed to simultaneously obtain the opti...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-06-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/9/13/1482 |
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| author | Josué Nathán Martínez-Castelán Miguel Gabriel Villarreal-Cervantes |
| author_facet | Josué Nathán Martínez-Castelán Miguel Gabriel Villarreal-Cervantes |
| author_sort | Josué Nathán Martínez-Castelán |
| collection | DOAJ |
| description | The design of bipedal robots is generally fulfilled through considering a sequential design approach, where a synergistic relationship between its structure and control features is not promoted. Hence, a novel integrated structure-control design approach is proposed to simultaneously obtain the optimal structural description, the torque magnitudes, and the on/off time intervals for the control signal input of a semi-passive bipedal robot. The proposed approach takes advantage of the natural dynamics of the system and the control signal activation/deactivation for generating stable gait cycles with minimum energy consumption. Consequently, the passive features of the semi-passive bipedal robot are included in the integrated structure-control design process through evaluating the system behavior along consecutive passive and semi-passive walking stages. Then, the proposed design approach is formulated as a nonlinear discontinuous dynamic optimization problem, where the solution search is carried out using the differential evolution algorithm due to the discontinuities of the semi-passive bipedal robot dynamics. The results of the proposal are compared with those obtained by a sequential design process. The integrated structure-control design achieves a reduction of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>63.55</mn><mo>%</mo></mrow></semantics></math></inline-formula> in the value of the performance function related to the synergy between the walking capability and energetic efficiency, with a reduction in the activation of the control and its magnitude of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>95.41</mn><mo>%</mo></mrow></semantics></math></inline-formula>. |
| first_indexed | 2024-03-10T10:05:52Z |
| format | Article |
| id | doaj.art-c3f56d1f11c34f2697c0ebb4c901983d |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T10:05:52Z |
| publishDate | 2021-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-c3f56d1f11c34f2697c0ebb4c901983d2023-11-22T01:32:41ZengMDPI AGMathematics2227-73902021-06-01913148210.3390/math9131482Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic WalkingJosué Nathán Martínez-Castelán0Miguel Gabriel Villarreal-Cervantes1Mecatronic Section, Postgraduate Department, Instituto Politécnico Nacional, CIDETEC, Mexico City 07700, MexicoMecatronic Section, Postgraduate Department, Instituto Politécnico Nacional, CIDETEC, Mexico City 07700, MexicoThe design of bipedal robots is generally fulfilled through considering a sequential design approach, where a synergistic relationship between its structure and control features is not promoted. Hence, a novel integrated structure-control design approach is proposed to simultaneously obtain the optimal structural description, the torque magnitudes, and the on/off time intervals for the control signal input of a semi-passive bipedal robot. The proposed approach takes advantage of the natural dynamics of the system and the control signal activation/deactivation for generating stable gait cycles with minimum energy consumption. Consequently, the passive features of the semi-passive bipedal robot are included in the integrated structure-control design process through evaluating the system behavior along consecutive passive and semi-passive walking stages. Then, the proposed design approach is formulated as a nonlinear discontinuous dynamic optimization problem, where the solution search is carried out using the differential evolution algorithm due to the discontinuities of the semi-passive bipedal robot dynamics. The results of the proposal are compared with those obtained by a sequential design process. The integrated structure-control design achieves a reduction of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>63.55</mn><mo>%</mo></mrow></semantics></math></inline-formula> in the value of the performance function related to the synergy between the walking capability and energetic efficiency, with a reduction in the activation of the control and its magnitude of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>95.41</mn><mo>%</mo></mrow></semantics></math></inline-formula>.https://www.mdpi.com/2227-7390/9/13/1482structure-control designoptimizationpassive bipedal walkerbipedal robotsdifferential evolution |
| spellingShingle | Josué Nathán Martínez-Castelán Miguel Gabriel Villarreal-Cervantes Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking Mathematics structure-control design optimization passive bipedal walker bipedal robots differential evolution |
| title | Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking |
| title_full | Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking |
| title_fullStr | Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking |
| title_full_unstemmed | Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking |
| title_short | Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking |
| title_sort | integrated structure control design of a bipedal robot based on passive dynamic walking |
| topic | structure-control design optimization passive bipedal walker bipedal robots differential evolution |
| url | https://www.mdpi.com/2227-7390/9/13/1482 |
| work_keys_str_mv | AT josuenathanmartinezcastelan integratedstructurecontroldesignofabipedalrobotbasedonpassivedynamicwalking AT miguelgabrielvillarrealcervantes integratedstructurecontroldesignofabipedalrobotbasedonpassivedynamicwalking |