Novel Design of Biped Robot Using Cable Differential Joint

2012 ◽  
Vol 479-481 ◽  
pp. 2307-2310 ◽  
Author(s):  
Hui Wei ◽  
Mei Shuai ◽  
Zhong Yu Wang
Keyword(s):  
Energy Consumption ◽  
Power Consumption ◽  
Lower Energy ◽  
Humanoid Robot ◽  
Biped Robot ◽  
Peak Torque ◽  
Differential Mode ◽  
Biped Walking ◽  
Human Energy ◽  
Novel Design

In this paper, a novel design of cable differential joint for biped robot is proposed. The transmission of joint is cable and operates in differential mode. Then, cable differential joints are employed to the humanoid robot BHLEG for its torque redistribution, 3-Degree of Freedom (DOF) cable differential joint for hip, one DOF joint for knee, and 2-DOF cable differential joint for ankle. According to the distribution of human energy, torque redistribution of cable differential joint can reduce the power consumption of actuator. Simultaneously, the peak torque and size of actuator is reduced. The aim of this paper is to verify a simplest mechanism for biped walking with lower energy consumption.

scholarly journals Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Liyang Wang ◽  
Ming Chen ◽  
Xiangkui Jiang ◽  
Wei Wang
Keyword(s):  
Energy Consumption ◽  
Quadratic Programming ◽  
Energy Optimization ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Biped Robots ◽  
Biped Walking ◽  
Joint Torques ◽  
Force Moment

The application of biped robots is always trapped by their high energy consumption. This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits. In this work, a constrained quadratic programming (QP) problem for energy optimization is formulated. A neurodynamics-based solver is presented to solve the QP problem. Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO) strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i) the force-moment equilibrium equation of biped robots, (ii) frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii) physical limits of the motors. Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.

scholarly journals Wearable thermoelectrics for personalized thermoregulation

2019 ◽  
Vol 5 (5) ◽  
pp. eaaw0536 ◽  
Author(s):  
Sahngki Hong ◽  
Yue Gu ◽  
Joon Kyo Seo ◽  
Joseph Wang ◽  
Ping Liu ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Lower Energy ◽  
Coefficient Of Performance ◽  
Entire Space ◽  
Human Comfort ◽  
Cooling Performance ◽  
Cooling Technology ◽  
High Flexibility ◽  
Novel Design

Thermoregulation has substantial implications for energy consumption and human comfort and health. However, cooling technology has remained largely unchanged for more than a century and still relies on cooling the entire space regardless of the number of occupants. Personalized thermoregulation by thermoelectric devices (TEDs) can markedly reduce the cooling volume and meet individual cooling needs but has yet to be realized because of the lack of flexible TEDs with sustainable high cooling performance. Here, we demonstrate a wearable TED that can deliver more than 10°C cooling effect with a high coefficient of performance (COP > 1.5). Our TED is the first to achieve long-term active cooling with high flexibility, due to a novel design of double elastomer layers and high-ZT rigid TE pillars. Thermoregulation based on these devices may enable a shift from centralized cooling toward personalized cooling with the benefits of substantially lower energy consumption and improved human comfort.

DYNAMIC SIMULATION OF BIPED WALKING ON LOOSE SOIL

2012 ◽  
Vol 09 (04) ◽  
pp. 1250032 ◽  
Author(s):  
SHUNSUKE KOMIZUNAI ◽  
ATSUSHI KONNO ◽  
SATOKO ABIKO ◽  
XIN JIANG ◽  
MASARU UCHIYAMA
Keyword(s):  
Dynamic Simulation ◽  
Humanoid Robot ◽  
Dynamic Contact ◽  
Biped Robot ◽  
Contact Model ◽  
Reactive Force ◽  
Biped Walking ◽  
Uneven Terrain ◽  
Loose Soil ◽  
Slip Phenomenon

Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.

scholarly journals Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097634
Author(s):  
Huan Tran Thien ◽  
Cao Van Kien ◽  
Ho Pham Huy Anh
Keyword(s):  
Inverse Kinematics ◽  
Biped Robot ◽  
Step Length ◽  
Jaya Algorithm ◽  
Kinetic Chain ◽  
Biped Walking ◽  
Gait Planning ◽  
Multi Objective ◽  
Simulation And Experiment ◽  
Stable Gait

This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multi-objective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset step-length value.

scholarly journals Power and Performance Evaluation of Memory-Intensive Applications

Energies ◽  
2021 ◽  
Vol 14 (14) ◽  
pp. 4089
Author(s):  
Kaiqiang Zhang ◽  
Dongyang Ou ◽  
Congfeng Jiang ◽  
Yeliang Qiu ◽  
Longchuan Yan
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Power Consumption ◽  
Job Scheduling ◽  
Memory System ◽  
Processor Core ◽  
Memory Efficiency ◽  
And Performance ◽  
Reasonable Use ◽  
Server System

In terms of power and energy consumption, DRAMs play a key role in a modern server system as well as processors. Although power-aware scheduling is based on the proportion of energy between DRAM and other components, when running memory-intensive applications, the energy consumption of the whole server system will be significantly affected by the non-energy proportion of DRAM. Furthermore, modern servers usually use NUMA architecture to replace the original SMP architecture to increase its memory bandwidth. It is of great significance to study the energy efficiency of these two different memory architectures. Therefore, in order to explore the power consumption characteristics of servers under memory-intensive workload, this paper evaluates the power consumption and performance of memory-intensive applications in different generations of real rack servers. Through analysis, we find that: (1) Workload intensity and concurrent execution threads affects server power consumption, but a fully utilized memory system may not necessarily bring good energy efficiency indicators. (2) Even if the memory system is not fully utilized, the memory capacity of each processor core has a significant impact on application performance and server power consumption. (3) When running memory-intensive applications, memory utilization is not always a good indicator of server power consumption. (4) The reasonable use of the NUMA architecture will improve the memory energy efficiency significantly. The experimental results show that reasonable use of NUMA architecture can improve memory efficiency by 16% compared with SMP architecture, while unreasonable use of NUMA architecture reduces memory efficiency by 13%. The findings we present in this paper provide useful insights and guidance for system designers and data center operators to help them in energy-efficiency-aware job scheduling and energy conservation.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

scholarly journals Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1800
Author(s):  
Linfei Hou ◽  
Fengyu Zhou ◽  
Kiwan Kim ◽  
Liang Zhang
Keyword(s):  
Energy Consumption ◽  
Power Consumption ◽  
Mobile Robot ◽  
Load Capacity ◽  
Working Environment ◽  
Energy Consumption Analysis ◽  
Mecanum Wheel ◽  
Save Energy ◽  
Energy Consumption Modeling ◽  
Robot Platform

The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In order to increase the applicable scenarios of energy consumption modeling for Mecanum wheel robots and improve the accuracy of energy consumption modeling, this paper focuses on various factors that affect the energy consumption of the Mecanum wheel robot, such as motor temperature, terrain, the center of gravity position, etc. The model is derived from the kinematic and kinetic model combined with electrical engineering and energy flow principles. The model has been simulated in MATLAB and experimentally validated with the four-wheeled Mecanum robot platform in our lab. Experimental results show that the accuracy of the model reached 95%. The results of energy consumption modeling can help robots save energy by helping them to perform rational path planning and task planning.

scholarly journals Effects of the Geometric Parameters of Mixer on the Mixing Process of Foam Concrete Mixture and Its Energy Efficiency

2020 ◽  
Vol 10 (22) ◽  
pp. 8055
Author(s):  
Sergey A. Stel’makh ◽  
Evgenii M. Shcherban’ ◽  
Anatolii I. Shuiskii ◽  
Al’bert Yu. Prokopov ◽  
Sergey M. Madatyan ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Lower Energy ◽  
Geometric Parameters ◽  
Concrete Mixture ◽  
Mixing Process ◽  
Conical Part ◽  
Foam Concrete ◽  
Optimal Range ◽  
Optimal Values

The paper studies the influence of the geometric parameters of the mixer on the mixing process, the construction of the mixing body, its location in the mixer bulk, and the mixer shape and geometry. The technique of calculating the power spent on mixing the foam concrete mixture is described. The effects of the ratio of the mixture height to the mixer diameter, the number and width of reflective partitions, and the shape of the conical part of the mixer on the homogeneity of the foam concrete mixture and the power consumption are considered. The optimal ratios of the foam concrete mixture height to the mixer diameter have been determined. Moreover, the optimal range of the ratios of the partition width to the mixer diameter has been established, in order to obtain a homogeneous foam concrete mixture throughout the volume with lower energy consumption. The optimal values of the angle of the mixer conical part for the preparation of a foam concrete mixture have been determined.

scholarly journals A Novel Method for Detecting Abnormal Energy Data in Building Energy Monitoring System

2014 ◽  
Vol 2014 ◽  
pp. 1-5 ◽  
Author(s):  
Liang Zhao
Keyword(s):  
Energy Consumption ◽  
Power Consumption ◽  
Real Time ◽  
Difference Method ◽  
Building Energy ◽  
Energy Monitoring ◽  
Order Difference ◽  
Energy Data ◽  
First Order ◽  
Novel Method

This paper presents a novel abnormal data detecting algorithm based on the first order difference method, which could be used to find out outlier in building energy consumption platform real time. The principle and criterion of methodology are discussed in detail. The results show that outlier in cumulative power consumption could be detected by our method.

One-pot three-step mechanically assisted synthesis and catalytic performance of tripodal metallic complexes

2021 ◽  
Author(s):  
Rima Tedjini ◽  
Raquel Viveiros ◽  
Teresa Casimiro ◽  
Vasco D.B. Bonifácio
Keyword(s):  
Energy Consumption ◽  
Lower Energy ◽  
Catalytic Performance ◽  
Green Technology ◽  
Waste Reduction ◽  
One Pot ◽  
Reaction Conversion

Mechanosynthesis is an emergent green technology that proceeds under solventless or vestigial solvent conditions. Major advantages relay in waste reduction and lower energy consumption, without compromising or enhancing reaction conversion....

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