scholarly journals Minimizing the Energy Consumption for a Hexapod Robot Based on Optimal Force Distribution

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 5393-5406 ◽  
Author(s):  
Guanyu Wang ◽  
Liang Ding ◽  
Haibo Gao ◽  
Zongquan Deng ◽  
Zhen Liu ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Force Distribution ◽  
Hexapod Robot ◽  
Optimal Force ◽  
Optimal Force Distribution

A Neurofuzzy Knowledge Based Architecture for Robotic Hand Manipulation Forces Learning

2013 ◽  
Vol 3 (2) ◽  
pp. 16-38 ◽  
Author(s):  
Ebrahim Mattar
Keyword(s):  
Force Distribution ◽  
Robotic Hand ◽  
Knowledge Based ◽  
Optimal Force ◽  
Learning Technique ◽  
Optimization Formulation ◽  
Hand Grasp ◽  
Optimal Set ◽  
Dextrous Hand ◽  
Optimal Force Distribution

Optimal distribution of forces for manipulation by a robot hand, is a hard computational issue, specifically once a whole hand grasp is needed. It becomes a complicated issue, once a robotic hand is equipped with human like deformable sensory touching materials. For computing optimal set of manipulation forces, grip transform and inverse hand Jacobian play major roles for such purposes. This manuscript is discussing a Neurofuzzy learning technique for learning optimal force distribution by a dextrous hand. For learning purposes, optimal set of forces patterns were gathered in advanced using optimization formulation technique. After that, to let a Neurofuzzy system to learn the nonlinear kinematics-dynamics relations needed for force distribution. This is done by considering the computational requirements for the inverse hand Jacobian, in addition to the interaction between hand fingers and the object. Training patterns clustering, and generation of the fuzzy initial memberships, and updated shape of memberships, are considered as vital information to build upon for more reasoning of fuzzy interrelation. The technique is novel in a sense, that the adopted Neurofuzzy architecture was transparent in terms of revealing the learned hand optimal forces if then rules.

An optimal force distribution scheme for cooperating multiple robot manipulators

Robotica ◽  
1993 ◽  
Vol 11 (1) ◽  
pp. 49-59 ◽  
Author(s):  
Yong Dal Shin ◽  
Myung Jin Chung
Keyword(s):  
Efficient Method ◽  
Optimal Solution ◽  
Inequality Constraints ◽  
Force Distribution ◽  
Weak Point ◽  
Contact Points ◽  
Optimal Force ◽  
Distribution Scheme ◽  
Equality And Inequality Constraints ◽  
Optimal Force Distribution

SUMMARYIn this paper, we suggest an optimal force distribution scheme by weak point force minimization and we also present an efficient method to solve the problem. The concept of a weak point is a generalized one which is applicable to any points of interest, as well as joints or contact points between end-effectors and an object. The problem is formulated by a quadratic objective function of the forces exerted at weak points subject to the linear equality and inequality constraints, and its optimal solution is obtained by an efficient method. As regards the solution of the problem, the original problem is reformulated to a reduced order dual problem after the equality constraints are eliminated by force decomposition.

Dynamic Modeling of Energy Efficient Crab Walking of Hexapod Robot

2011 ◽  
Vol 110-116 ◽  
pp. 2730-2739 ◽  
Author(s):  
Shibendu Shekhar Roy ◽  
Dilip Kumar Pratihar
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Energy Efficient ◽  
Average Power ◽  
Force Distribution ◽  
Hexapod Robot ◽  
Gait Patterns ◽  
Joint Torques ◽  
Foot Force ◽  
Average Power Consumption

Crab walking is the most general and very important one for omni-directional walking of a hexapod robot. This paper presents a dynamic model for determining energy consumption and energy efficiency of a hexapod robot during its locomotion over flat terrain with a constant crab angle. The model has been derived for statically stable crab-wave gaits by considering a minimization of dissipating energy for optimal foot force distribution. Two approaches, such as minimization of norm of feet forces and minimization of norm of joint torques have been developed. The variations of average power consumption and energy consumption per weight per traveled length with velocity or stroke have been compared for crab walking with tripod and tetrapod gait patterns. Tetrapod gaits are found to be more energy-efficient compared to the tripod gaits.

Sign in / Sign up

Export Citation Format

Share Document