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Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs

机译：利用机械弹簧形式的弹性联轴器优化行走双足机器人的能效

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摘要

This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 50 % in a speed range from 0.3 to using elastic couplings-mechanical springs with movement speed independent parameters. The considered robot consists of a trunk, two stiff legs and two actuators in the hip joints. It is modeled as underactuated system to make use of its natural dynamics and feedback controlled with input-output linearization. A numerical optimization of the joint angle trajectories as well as the elastic couplings is performed to minimize the average energy expenditure over the whole speed range. The elastic couplings increase the swing leg motion's natural frequency, thus making smaller steps more efficient which reduce the impact loss at the touchdown of the swing leg. The process of energy turnover is investigated for the robot with and without elastic couplings. Furthermore, the influence of the elastic couplings' topology, its degree of nonlinearity, the mass distribution, the joint friction, the coefficient of static friction and the selected actuator is analyzed. It is shown that the optimization of the robot's motion and elastic coupling toward energy efficiency leads to a slightly slower convergence rate of the controller, yet no loss of stability and a lower sensitivity with respect to disturbances. The optimal elastic coupling discovered by the numerical optimization is a linear torsion spring between the legs.
机译：本文提出了一种方法，可以在0.3到200的速度范围内，使用具有运动速度独立参数的弹性联轴器-机械弹簧，将步行双足机器人的能量效率优化50％以上。所考虑的机器人由一个躯干，两个僵硬的腿和两个位于髋关节中的致动器组成。它被建模为欠驱动系统，以利用其自然动力学和输入输出线性化控制的反馈。对关节角度轨迹以及弹性联轴器进行了数值优化，以使整个速度范围内的平均能量消耗最小。弹性联轴器增加了摆腿运动的固有频率，从而使较小的步幅更有效，从而减少了摆腿触地时的冲击损失。研究了具有和不具有弹性联轴器的机器人的能量转换过程。此外，分析了弹性联轴器的拓扑结构，其非线性程度，质量分布，关节摩擦，静摩擦系数和所选执行器的影响。结果表明，机器人运动和朝向能量效率的弹性耦合的优化导致控制器的收敛速度稍慢，但不会损失稳定性，并且对干扰的敏感性较低。通过数值优化发现的最佳弹性联轴器是支腿之间的线性扭力弹簧。

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