Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot
Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot
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DOI：
10.1109/tmech.2014.2339013
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发表时间：
2015-06-01
影响因子：
6.4
通讯作者：
Kim, Sangbae
中科院分区：
文献类型：
--
作者：
Seok, Sangok;Wang, Albert;Kim, Sangbae
本文介绍了高效步行机器人的设计原理，以及在麻省理工学院猎豹设计中的应用，并对高速小跑的实验结果进行了分析。通过分析运动中的三种主要能量损失机制：执行机构的热损失、传动过程中的摩擦损失和系统与环境之间的相互作用损失，得出了设计原则。讨论了使这些损失最小化的四个设计原则：采用高扭矩密度电机、能量再生电子系统、低损耗传动和低支腿惯性。这些原则在麻省理工学院猎豹的设计中得到了贯彻；其主要设计特点是大间隙直径电机、再生式电机驱动器、单级低齿轮传动、带复合支腿的双同轴电机和差动驱动脊椎。给出了快速小跑的实验结果，该机器人重33公斤，以22公里/小时(6米/S)的速度运行。电池组的总耗电量为973瓦，运输总成本为0.5瓦，与同等规模的奔跑动物相当。总能耗的76%归因于电机的热损失，其余24%用于机械工作，作为相互作用损失以及关节和变速箱的摩擦损失而消散。
This paper presents the design principles for highly efficient legged robots, the implementation of the principles in the design of the MIT Cheetah, and the analysis of the high-speed trotting experimental results. The design principles were derived by analyzing three major energy-loss mechanisms in locomotion: heat losses from the actuators, friction losses in transmission, and the interaction losses caused by the interface between the system and the environment. Four design principles that minimize these losses are discussed: employment of high torque-density motors, energy regenerative electronic system, low loss transmission, and a low leg inertia. These principles were implemented in the design of the MIT Cheetah; the major design features are large gap diameter motors, regenerative electric motor drivers, single-stage low gear transmission, dual coaxial motors with composite legs, and the differential actuated spine. The experimental results of fast trotting are presented; the 33-kg robot runs at 22 km/h (6 m/s). The total power consumption from the battery pack was 973 W and resulted in a total cost of transport of 0.5, which rivals running animals' at the same scale. 76% of the total energy consumption is attributed to heat loss from the motor, and the remaining 24% is used in mechanical work, which is dissipated as interaction loss as well as friction losses at the joint and transmission.