An Overview on Principles for EnergyEfficient Robot Locomotion

Kashiri, Navvab and Abate, Andy and Abram, Sabrina J. and Albu-Schäffer, Alin Olimpiu and Clary, Patrick J. and Daley, Monica and Faraji, Salman and Furnemont, Raphael and Garabini, Manolo and Hartmut, Geyer and Grabowski, Alena M. and Hurst, Jonathan and Malzahn, Jorn and Mathijssen, Glenn and Remy, David and Roozing, Wesley and Shahbazi, Mohammad and Simha, Surabhi N. and Song, Jae-Bok and Smit-Anseeuw, Nils and Stramigioli, Stefano and Vanderborght, Bram and Yesilevskiy, Yevgeniy and Tsagarakiss, Nikos (2018) An Overview on Principles for EnergyEfficient Robot Locomotion. Frontiers in Robotics and AI. Frontiers Media S.A. doi: 10.3389/frobt.2018.00129. ISSN 2296-9144.

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Abstract

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.

Item URL in elib:

https://elib.dlr.de/123483/

Document Type:

Article

Title:

An Overview on Principles for EnergyEfficient Robot Locomotion

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Kashiri, Navvab	Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy	UNSPECIFIED	UNSPECIFIED
Abate, Andy	Dynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United States	UNSPECIFIED	UNSPECIFIED
Abram, Sabrina J.	Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC, Canada	UNSPECIFIED	UNSPECIFIED
Albu-Schäffer, Alin Olimpiu	UNSPECIFIED	https://orcid.org/0000-0001-5343-9074	142115761
Clary, Patrick J.	Dynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United States	UNSPECIFIED	UNSPECIFIED
Daley, Monica	Structure and Motion Laboratory, Royal Veterinary College, Hertfordshire, United Kingdom	UNSPECIFIED	UNSPECIFIED
Faraji, Salman	Biorobotics Laboratory, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland	UNSPECIFIED	UNSPECIFIED
Furnemont, Raphael	Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium	UNSPECIFIED	UNSPECIFIED
Garabini, Manolo	Centro di Ricerca “Enrico Piaggio”, University of Pisa, Pisa, Italy	UNSPECIFIED	UNSPECIFIED
Hartmut, Geyer	Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, United States,	UNSPECIFIED	UNSPECIFIED
Grabowski, Alena M.	Applied Biomechanics Lab, Department of Integrative Physiology, University of Colorado, Boulder, CO, United States	UNSPECIFIED	UNSPECIFIED
Hurst, Jonathan	Dynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United States	UNSPECIFIED	UNSPECIFIED
Malzahn, Jorn	Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy	UNSPECIFIED	UNSPECIFIED
Mathijssen, Glenn	Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium	UNSPECIFIED	UNSPECIFIED
Remy, David	Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States	UNSPECIFIED	UNSPECIFIED
Roozing, Wesley	Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy	UNSPECIFIED	UNSPECIFIED
Shahbazi, Mohammad	Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy	UNSPECIFIED	UNSPECIFIED
Simha, Surabhi N.	Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC, Canada	UNSPECIFIED	UNSPECIFIED
Song, Jae-Bok	Department of Mechanical Engineering, Korea University, Seoul, South Korea	UNSPECIFIED	UNSPECIFIED
Smit-Anseeuw, Nils	Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States	UNSPECIFIED	UNSPECIFIED
Stramigioli, Stefano	Control Engineering group, University of Twente, Enschede, Netherlands	UNSPECIFIED	UNSPECIFIED
Vanderborght, Bram	Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium	UNSPECIFIED	UNSPECIFIED
Yesilevskiy, Yevgeniy	Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States	UNSPECIFIED	UNSPECIFIED
Tsagarakiss, Nikos	Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy	UNSPECIFIED	UNSPECIFIED

Date:

11 December 2018

Journal or Publication Title:

Frontiers in Robotics and AI

Refereed publication:

Yes

Open Access:

Yes

Gold Open Access:

Yes

In SCOPUS:

Yes

In ISI Web of Science:

Yes

DOI:

10.3389/frobt.2018.00129

Publisher:

Frontiers Media S.A

ISSN:

2296-9144

Status:

Published

Keywords:

variable impedance actuators, energy efficiency, energetics, cost of transport, locomotion principles, bioinspired motions

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Space

HGF - Program Themes:

Space System Technology

DLR - Research area:

Raumfahrt

DLR - Program:

R SY - Space System Technology

DLR - Research theme (Project):

R - On-Orbit Servicing [SY]

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (since 2013)

Deposited By:

Beinhofer, Gabriele

Deposited On:

16 Dec 2018 23:30

Last Modified:

11 Sep 2023 13:22

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