An overview on principles for energy efficient robot locomotion

Navvab Kashiri; 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; Stefano Stramigioli; Bram Vanderborght; Yevgeniy Yesilevskiy; Nikos Tsagarakis

doi:10.3389/frobt.2018.00129

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-AnseeuwStefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikos Tsagarakis

^*Corresponding author for this work

Research output: Contribution to journal › Review article › Academic › peer-review

41 Citations (Scopus)

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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 language	English
Article number	129
Journal	Frontiers Robotics AI
Volume	5
Issue number	DEC
DOIs	https://doi.org/10.3389/frobt.2018.00129
Publication status	Published - 1 Dec 2018

Keywords

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

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frobt-05-00129Final published version, 909 KBLicence: CC BY

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Kashiri, N., Abate, A., Abram, S. J., Albu-Schaffer, A., Clary, P. J., Daley, M., Faraji, S., Furnemont, R., Garabini, M., Geyer, H., Grabowski, A. M., Hurst, J., Malzahn, J., Mathijssen, G., Remy, D., Roozing, W., Shahbazi, M., Simha, S. N., Song, J. B., ... 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

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title = "An overview on principles for energy efficient robot locomotion",

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.",

keywords = "Bio-inspired motions, Cost of transport, Energetics, Energy efficiency, Locomotion principles, Variable impedance actuators",

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

year = "2018",

month = dec,

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doi = "10.3389/frobt.2018.00129",

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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

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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

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

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U2 - 10.3389/frobt.2018.00129

DO - 10.3389/frobt.2018.00129

M3 - Review article

AN - SCOPUS:85061394640

VL - 5

JO - Frontiers in robotics and AI

JF - Frontiers in robotics and AI

SN - 2296-9144

IS - DEC

M1 - 129

ER -

An overview on principles for energy efficient robot locomotion

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