面向过约束机械肢体节能优化的计算设计

IF 4.8 2区工程技术 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Journal of Computational Design and Engineering Pub Date : 2023-08-22 DOI:10.1093/jcde/qwad083

Yu Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan, F. Wan, Chaoyang Song

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引用次数: 1

摘要

有腿机器人在不断发展，能效是其设计的主要驱动因素。然而，将机构效率和轨迹规划相结合是具有挑战性的。这项工作提出了一个计算优化框架，用于优化基本步行时的腿设计，同时最大化能源效率。将机器人肢体设计推广为基于四连杆的设计池，并采用进化算法对其进行优化。根据用户自定义的目标函数对腿的构型和设计参数进行优化。通过将我们的框架与我们的原型四足机器人向前小跑的测量数据进行比较，我们的框架得到了验证。Bennett机器人腿有利于全方位运动，提高了能量效率。

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Computational design towards energy efficient optimization in overconstrained robotic limbs

Legged robots are constantly evolving, and energy efficiency is a major driving factor in their design. However, combining mechanism efficiency and trajectory planning can be challenging. This work proposes a computational optimization framework for optimizing leg design during basic walking while maximizing energy efficiency. We generalize the robotic limb design as a four-bar linkage-based design pool and optimize the leg using an evolutionary algorithm. The leg configuration and design parameters are optimized based on user-defined objective functions. Our framework was validated by comparing it to measured data on our prototype quadruped robot for forward trotting. The Bennett robotic leg was advantageous for omni-directional locomotion with enhanced energy efficiency.

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来源期刊

Journal of Computational Design and Engineering Computer Science-Human-Computer Interaction

CiteScore

7.70

自引率

20.40%

发文量

125

期刊介绍： Journal of Computational Design and Engineering is an international journal that aims to provide academia and industry with a venue for rapid publication of research papers reporting innovative computational methods and applications to achieve a major breakthrough, practical improvements, and bold new research directions within a wide range of design and engineering: • Theory and its progress in computational advancement for design and engineering • Development of computational framework to support large scale design and engineering • Interaction issues among human, designed artifacts, and systems • Knowledge-intensive technologies for intelligent and sustainable systems • Emerging technology and convergence of technology fields presented with convincing design examples • Educational issues for academia, practitioners, and future generation • Proposal on new research directions as well as survey and retrospectives on mature field.