@article{Gu2023ComputationalDesign,

title = {Computational Design Towards Energy Efficient Optimization in Overconstrained Robotic Limbs},

author = {Yuping Gu and Ziqian Wang and Shihao Feng and Haoran Sun and Haibo Lu and Jia Pan and Fang Wan and Chaoyang Song},

doi = {10.1093/jcde/qwad083},

year  = {2023},

date = {2023-08-22},

urldate = {2023-08-22},

journal = {Journal of Computational Design and Engineering},

volume = {10},

number = {5},

issue = {October},

pages = {1941–1956},

abstract = {Legged robots are constantly evolving, and energy efficiency is a major driving factor in their design. However, combining mechanism efficiency and trajectory planning can be challenging. This work proposes a computational optimization framework for optimizing leg design during basic walking while maximizing energy efficiency. We generalize the robotic limb design as a four-bar linkage-based design pool and optimize the leg using an evolutionary algorithm. The leg configuration and design parameters are optimized based on user-defined objective functions. Our framework was validated by comparing it to measured data on our prototype quadruped robot for forward trotting. The Bennett robotic leg was advantageous for omni-directional locomotion with enhanced energy efficiency.},

keywords = {Authorship - Corresponding, Award - Editor's Choice, JCR Q1, Jour - J. Comput. Des. Eng. (JCDE)},

pubstate = {published},

tppubtype = {article}

}