에너지 효율적인 인간 크기 4족 보행 로봇의 설계와 검증
Design Principles and Validation of a Human-sized Quadruped Robot Leg for High Energy Efficiency
1
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
This paper presents about design efforts of a human-sized quadruped robot leg for high energy efficiency, and verifications. One of the representative index of the energy efficiency is the Cost of Transport (COT), but increased in the energy or work done is not calculated in COT. In this reason, the input to the output energy efficiency should be also considered as a very important term. By designing the robot with customized motor housing, small rotational inertia, and low gear ratio to reduce friction, high energy efficiency was achieved. Squatting motion of one leg was performed and simulation results were compared to the experimental results for validation. The developed 50 kg robot can lift the weight up to 200 kg, and during squatting, it showed high energy efficiency. The robot showed 71% input to output energy efficiency in positive work. Peak current during squatting only appears to be 0.3 A.
Abstract
This paper presents about design efforts of a human-sized quadruped robot leg for high energy efficiency, and verifications. One of the representative index of the energy efficiency is the Cost of Transport (COT), but increased in the energy or work done is not calculated in COT. In this reason, the input to the output energy efficiency should be also considered as a very important term. By designing the robot with customized motor housing, small rotational inertia, and low gear ratio to reduce friction, high energy efficiency was achieved. Squatting motion of one leg was performed and simulation results were compared to the experimental results for validation. The developed 50 kg robot can lift the weight up to 200 kg, and during squatting, it showed high energy efficiency. The robot showed 71% input to output energy efficiency in positive work. Peak current during squatting only appears to be 0.3 A.
참고문헌 (22)
- M. Raibert, "Bigdog, the rough-terrain quadruped robot", IFAC Proceedings Volumes, 41(2), pp.10822~10825 (2008)[DOI]
- C. Semini, "Design of hyq-a hydraulically and electrically actuated quadruped robot", Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 225(6), pp.831~849 (2011)[DOI]
- S. Seok, "Design principles for highly efficient quadrupeds and implementation on the mit cheetah robot", Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp.3307~3312 (2013), IEEE
- M. Hutter, "Toward combining speed, efficiency, versatility, and robustness in an autonomous quadruped", IEEE Transactions on Robotics, 30(6), pp.1427~1440 (2014)[DOI]
- P. A. Bhounsule, "Design and control of ranger: an energy-efficient, dynamic walking robot", Adaptive Mobile Robotics, pp.441~448 (2012)
- M. Ahmadi, "Controlled passive dynamic running experiments with the arl-monopod ii", IEEE Transactions on Robotics, 22(5), pp.974~986 (2006)[DOI]
- 박동일, "구난 로봇용 양팔 머니퓰레이터 진동 해석 및 설계", 로봇학회 논문지, 11(4), pp.235~241 (2016), 한국로봇학회
- 김휘수, "임무에 따른 하박 교체형 고 가반하중 양팔로봇의 설계: 구난 및 물체 핸들링", 로봇학회 논문지, 12(4), pp.441~447 (2017), 한국로봇학회[DOI]
- S. Park, "Interactive and intuitive control interface for a tele-operated robot (avatar) system", Advanced Intelligent Mechatronics (AIM), 2017 IEEE International Conference on, pp.241~246 (2017), IEEE
- S. J. Wickler, "The energetics of the trot-gallop transition", Journal of Experimental Biology, 206(9), pp.1557~1564 (2003)[DOI]
- R. M. Walter, "Ground forces applied by galloping dogs", Journal of Experimental Biology, 210(2), pp.208~216 (2007)[DOI]
- I.-W. Park, "Mechanical design of humanoid robot platform khr-3 (kaist humanoid robot 3: Hubo)", Humanoid Robots, 2005 5th IEEE-RAS International Conference on, pp.321~326 (2005), IEEE
- A. Sprowitz, "Towards dynamic trot gait locomotion: Design, control, and experiments with cheetah-cub, a compliant quadruped robot", The International Journal of Robotics Research, 32(8), pp.932~950 (2013)[DOI]
- S. Seok, "Design principles for energy efficient legged locomotion and implementation on the mit cheetah robot", IEEE, 2015, pp.20(3), 1117~1129
- S. Seok, "Actuator design for high force proprioceptive control in fast legged locomotion", Intelligent Robots and Systems (IROS), 2012 IEEE, 2012, 1970~1975[DOI]
- [URL]
- J. Wang, "Influence of the permanent magnet overhang on the performance of the brushless dc motor", Journal of applied physics, 83(11), pp.6362~6364 (1998)[DOI]
- Y. D. Chun, "Magnetic force characteristics according to the variation of asymmetric overhang ratio in brushless direct current motor", Journal of applied physics, 93(10), pp.8775~8777 (2003)[DOI]
- I.-S. Jung, "3-d analysis of permanent magnet linear synchronous motor with magnet arrangement using equivalent magnetic circuit network method", IEEE Transactions on Magnetics, 35(5), pp.3736~3738 (1999)[DOI]
- L. M. Day, "Interspecific scaling of the morphology and posture of the limbs during the locomotion of cats (felidae)", Journal of Experimental Biology, 210(4), pp.642~654 (2007)[DOI]
- M. H. Raibert, "Trotting, pacing and bounding by a quadruped robot", Journal of biomechanics, 23, pp.79~98 (1990)[DOI]
- D. X. Ba, "Self-learning robust neural-network-based nonlinear control of a 2-dof robot", The 21st International Conference on Mechatronics Technology, pp.389~394 (2017)