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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    An overview on principles for energy efficient robot locomotion


    Beteiligte:
    Kashiri, Navvab (Autor:in) / Abate, Andy (Autor:in) / Abram, Sabrina J. (Autor:in) / Albu-Schaffer, Alin (Autor:in) / Clary, Patrick J. (Autor:in) / Daley, Monica (Autor:in) / Faraji, Salman (Autor:in) / Furnemont, Raphael (Autor:in) / Garabini, Manolo (Autor:in) / Geyer, Hartmut (Autor:in)

    Erscheinungsdatum :

    2018-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Advanced Robot Locomotion

    R. H. Byrne / J. C. Neely / S. Buerger et al. | NTIS | 2007



    LOCOMOTION CHASSIS FOR ROBOT

    LIU YANG | Europäisches Patentamt | 2023

    Freier Zugriff

    Bio‐inspired Robot Locomotion

    Buschmann, Thomas / Trimmer, Barry | Wiley | 2017