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Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring

Danil Belov, Artem Erkhov, Farit Khabibullin, Elisaveta Pestova, Sergei Satsevich, Ilya Osokin, Pavel Osinenko, Dzmitry Tsetserukou

Abstract

This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy efficiency during cyclic movements, such as walking and jumping. The adaptive compliance mechanism, consisting of a torsion spring combined with a worm gear driven by a servo actuator, compensates for motion-induced torque and reduces motor load. Simulation results demonstrate a significant reduction in power consumption, highlighting the effectiveness of this approach in enhancing robotic locomotion.

Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring

Abstract

This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy efficiency during cyclic movements, such as walking and jumping. The adaptive compliance mechanism, consisting of a torsion spring combined with a worm gear driven by a servo actuator, compensates for motion-induced torque and reduces motor load. Simulation results demonstrate a significant reduction in power consumption, highlighting the effectiveness of this approach in enhancing robotic locomotion.

Paper Structure

This paper contains 10 sections, 4 equations, 10 figures, 1 table.

Table of Contents

  1. INTRODUCTION
  2. RELATED WORK
  3. PROPOSED APPROACH
  4. System Overview
  5. Optimal spring parameters derivation
  6. EXPERIMENTS AND RESULTS
  7. Experimental setup
  8. Results
  9. CONCLUSION
  10. FUTURE WORK

Figures (10)

  • Figure 2: Digital twin of the one-leg stand with Adaptive Spring System in Gazebo simulator.
  • Figure 4: The experimental setup consists of a leg, fixing stand, control electronics, a torsion spring mounted parallel to the knee joint, and motor to control the preload on the spring.
  • Figure 5: System overview, including modules and interfaces developed for dynamical change of spring preload.
  • Figure : Baseline
  • Figure : Baseline
  • ...and 5 more figures