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Parameter Study of Compliant Elements for a Bipedal Robot to Increase Its Walking Efficiency

Zirkel, Marten; Luo, Yinnan 1; Römer, Ulrich J. ORCID iD icon 1; Fidlin, Alexander 1; Zentner, Lena
1 Institut für Technische Mechanik (ITM), Karlsruher Institut für Technologie (KIT)

Abstract (englisch):
In this paper, we introduce a method to place compliant elements with parameters that can be adjusted during operation in the joints of the bipedal walker to improve its energy efficiency. The bipedal walking robot is modelled with five rigid segments and driven by electric motors in its revolute joints. Minimizing the energy consumption of locomotion is formulated as a numerical optimization problem. An Euler-Bernoulli beam is used to describe the nonlinear behavior, caused by large deflections, of a compliant element loaded with forces and moments. The static problem for the beam deflection for given boundary conditions is solved numerically. Four parameters defining either the undeformed geometry or the boundary conditions are varied to modify the torque that this compliant element exerts on two robot segments connected by a revolute joint. The torque-deflection dependence and its dependence on the four different parameters is approximated by simple ansatz functions via fitting. The fitted functions are then included in a numerical optimization problem to determine the optimal parameters of the compliant element and the corresponding energy optimal gait simultaneously. ... mehr

Zugehörige Institution(en) am KIT Institut für Technische Mechanik (ITM)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2021
Sprache Englisch
Identifikator ISBN: 978-3-030-61651-9
ISSN: 2211-0984, 2211-0992
KITopen-ID: 1000129316
Erschienen in Microactuators, Microsensors and Micromechanisms : MAMM 2020. Ed.: L. Zentner
Auflage 1. ed.
Verlag Springer International Publishing
Seiten 58–75
Serie Mechanisms and Machine Science ; 96
Projektinformation DFG, DFG EIN, FI 1761/4-1
Vorab online veröffentlicht am 14.10.2020
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