Robot Leg Design: A Constructive Framework
Robot Leg Design: A Constructive Framework
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DOI：
10.1109/access.2018.2870291
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发表时间：
2018-01-01
期刊：
影响因子：
3.9
通讯作者：
Hurst, Jonathan W.
中科院分区：
文献类型：
--
作者：
Rezazadeh, Siavash;Abate, Andy;Hurst, Jonathan W.
大多数机器人腿部设计要么基于人类或动物腿部形态的仿生学，要么基于针对特定任务的机械优化。在第一种方法中，机械腿的驱动与原始生物结构之间的差异通常会导致效率低下和控制故障，而第二类腿部往往局限于在单一任务中表现良好，用于其他任务时则会失败。在本文中，我们提出了一个机器人腿部设计的建设性框架，该框架试图利用上述两种方法的积极因素。为此，我们首先通过选择一个已被证明在广泛任务中具有生物相关性的模板，为机械设计奠定基础。然后，我们提出了一个基于模板设计机构以实现效率最大化的通用定理。在最后一步，一旦设计好机构，我们就解决执行器选择的问题，并将其表述为一个约束优化问题。在一个带有实验性行走数据的案例研究中，我们展示了如何将机构设计定理和所表述的优化问题结合使用，以将行走能量效率提高50%以上。所提出的三步法不受任何模板的限制，应该为腿部设计提供一个更结构化的流程，实现最佳的能量经济性，并保留对有腿机器人的控制和通用性至关重要的重要仿生因素。
Most robot leg designs are either based on biomimetics of humans' or animals' leg morphologies or on being mechanically optimized for specific task(s). In the first approach, differences between the actuation of the mechanical leg and the original biological structure usually result in inefficiencies and control malfunction, and legs in the second group are often limited to good performance for a single task and would fail when used for others. In this paper, we present a constructive framework for robot leg design, which tries to take advantage of the positive factors of both aforementioned approaches. For this purpose, we first, through selection of a template whose biological relevance for a wide range of tasks has been proven, establish a foundation on which mechanical design can be built. Then, we present a general theorem for designing a mechanism based on a template in order to maximize efficiency. In the final step and once the mechanism is designed, we address the problem of selecting the actuators and formulate it as a constrained optimization problem. In a case study with experimental walking data, we show how the mechanism design theorem and the formulated optimization problem can be used together to improve the walking energy efficiency by more than 50%. The proposed three-step approach is not limited to any template and should provide a more structured procedure for leg design, result in optimal energy economy, and maintain important bioinspired factors vital for control and versatility of legged robots.