TY - JOUR
T1 - An overview on principles for energy efficient robot locomotion
AU - Kashiri, Navvab
AU - Abate, Andy
AU - Abram, Sabrina J.
AU - Albu-Schaffer, Alin
AU - Clary, Patrick J.
AU - Daley, Monica
AU - Faraji, Salman
AU - Furnemont, Raphael
AU - Garabini, Manolo
AU - Geyer, Hartmut
AU - Grabowski, Alena M.
AU - Hurst, Jonathan
AU - Malzahn, Jorn
AU - Mathijssen, Glenn
AU - Remy, David
AU - Roozing, Wesley
AU - Shahbazi, Mohammad
AU - Simha, Surabhi N.
AU - Song, Jae Bok
AU - Smit-Anseeuw, Nils
AU - Stramigioli, Stefano
AU - Vanderborght, Bram
AU - Yesilevskiy, Yevgeniy
AU - Tsagarakis, Nikos
N1 - Publisher Copyright:
© 2018 Kashiri, Abate, Abram, Albu-Schaffer, Clary, Daley, Faraji, Furnemont, Garabini, Geyer, Grabowski, Hurst, Malzahn, Mathijssen, Remy, Roozing, Shahbazi, Simha, Song, Smit-Anseeuw, Stramigioli, Vanderborght, Yesilevskiy and Tsagarakis.
PY - 2018/12/1
Y1 - 2018/12/1
N2 - 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.
AB - 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.
KW - Bio-inspired motions
KW - Cost of transport
KW - Energetics
KW - Energy efficiency
KW - Locomotion principles
KW - Variable impedance actuators
UR - http://www.scopus.com/inward/record.url?scp=85061394640&partnerID=8YFLogxK
U2 - 10.3389/frobt.2018.00129
DO - 10.3389/frobt.2018.00129
M3 - Review article
AN - SCOPUS:85061394640
SN - 2296-9144
VL - 5
JO - Frontiers Robotics AI
JF - Frontiers Robotics AI
IS - DEC
M1 - 129
ER -