An overview on principles for energy efficient robot locomotion

Navvab Kashiri (Corresponding Author), Andy Abate, Sabrina J. Abram, Alin Albu-Schaffer, Patrick J. Clary, Monica Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan Hurst, Jorn Malzahn, Glenn Mathijssen, David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae Bok Song, Nils Smit-Anseeuw & 4 others Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikos Tsagarakis

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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.

Original languageEnglish
Article number129
JournalFrontiers Robotics AI
Volume5
Issue numberDEC
DOIs
Publication statusPublished - 1 Dec 2018

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Robots
Robotics
Biological systems
Dynamic analysis
Energy efficiency
Recycling
Actuators
Compliance

Keywords

  • Bio-inspired motions
  • Cost of transport
  • Energetics
  • Energy efficiency
  • Locomotion principles
  • Variable impedance actuators

Cite this

Kashiri, N., Abate, A., Abram, S. J., Albu-Schaffer, A., Clary, P. J., Daley, M., ... Tsagarakis, N. (2018). An overview on principles for energy efficient robot locomotion. Frontiers Robotics AI, 5(DEC), [129]. https://doi.org/10.3389/frobt.2018.00129
Kashiri, Navvab ; Abate, Andy ; Abram, Sabrina J. ; Albu-Schaffer, Alin ; Clary, Patrick J. ; Daley, Monica ; Faraji, Salman ; Furnemont, Raphael ; Garabini, Manolo ; Geyer, Hartmut ; Grabowski, Alena M. ; Hurst, Jonathan ; Malzahn, Jorn ; Mathijssen, Glenn ; Remy, David ; Roozing, Wesley ; Shahbazi, Mohammad ; Simha, Surabhi N. ; Song, Jae Bok ; Smit-Anseeuw, Nils ; Stramigioli, Stefano ; Vanderborght, Bram ; Yesilevskiy, Yevgeniy ; Tsagarakis, Nikos. / An overview on principles for energy efficient robot locomotion. In: Frontiers Robotics AI. 2018 ; Vol. 5, No. DEC.
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Kashiri, N, Abate, A, Abram, SJ, Albu-Schaffer, A, Clary, PJ, Daley, M, Faraji, S, Furnemont, R, Garabini, M, Geyer, H, Grabowski, AM, Hurst, J, Malzahn, J, Mathijssen, G, Remy, D, Roozing, W, Shahbazi, M, Simha, SN, Song, JB, Smit-Anseeuw, N, Stramigioli, S, Vanderborght, B, Yesilevskiy, Y & Tsagarakis, N 2018, 'An overview on principles for energy efficient robot locomotion' Frontiers Robotics AI, vol. 5, no. DEC, 129. https://doi.org/10.3389/frobt.2018.00129

An overview on principles for energy efficient robot locomotion. / Kashiri, Navvab (Corresponding Author); Abate, Andy; Abram, Sabrina J.; Albu-Schaffer, Alin; Clary, Patrick J.; Daley, Monica; Faraji, Salman; Furnemont, Raphael; Garabini, Manolo; Geyer, Hartmut; Grabowski, Alena M.; Hurst, Jonathan; Malzahn, Jorn; Mathijssen, Glenn; Remy, David; Roozing, Wesley; Shahbazi, Mohammad; Simha, Surabhi N.; Song, Jae Bok; Smit-Anseeuw, Nils; Stramigioli, Stefano; Vanderborght, Bram; Yesilevskiy, Yevgeniy; Tsagarakis, Nikos.

In: Frontiers Robotics AI, Vol. 5, No. DEC, 129, 01.12.2018.

Research output: Contribution to journalReview articleAcademicpeer-review

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AU - Abate, Andy

AU - Abram, Sabrina J.

AU - Albu-Schaffer, Alin

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AU - Daley, Monica

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AU - Hurst, Jonathan

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AU - Mathijssen, Glenn

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AU - Roozing, Wesley

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AU - Song, Jae Bok

AU - Smit-Anseeuw, Nils

AU - Stramigioli, Stefano

AU - Vanderborght, Bram

AU - Yesilevskiy, Yevgeniy

AU - Tsagarakis, Nikos

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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.

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Kashiri N, Abate A, Abram SJ, Albu-Schaffer A, Clary PJ, Daley M et al. An overview on principles for energy efficient robot locomotion. Frontiers Robotics AI. 2018 Dec 1;5(DEC). 129. https://doi.org/10.3389/frobt.2018.00129