TY - JOUR
T1 - Integrated structure-control design of a bipedal robot based on passive dynamic walking
AU - Martínez-Castelán, Josué Nathán
AU - Villarreal-Cervantes, Miguel Gabriel
N1 - Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2021/7/1
Y1 - 2021/7/1
N2 - The design of bipedal robots is generally fulfilled through considering a sequential design approach, where a synergistic relationship between its structure and control features is not promoted. Hence, a novel integrated structure-control design approach is proposed to simultaneously obtain the optimal structural description, the torque magnitudes, and the on/off time intervals for the control signal input of a semi-passive bipedal robot. The proposed approach takes advantage of the natural dynamics of the system and the control signal activation/deactivation for generating stable gait cycles with minimum energy consumption. Consequently, the passive features of the semi-passive bipedal robot are included in the integrated structure-control design process through evaluating the system behavior along consecutive passive and semi-passive walking stages. Then, the proposed design approach is formulated as a nonlinear discontinuous dynamic optimization problem, where the solution search is carried out using the differential evolution algorithm due to the discontinuities of the semi-passive bipedal robot dynamics. The results of the proposal are compared with those obtained by a sequential design process. The integrated structure-control design achieves a reduction of 63.55% in the value of the performance function related to the synergy between the walking capability and energetic efficiency, with a reduction in the activation of the control and its magnitude of 95.41%.
AB - The design of bipedal robots is generally fulfilled through considering a sequential design approach, where a synergistic relationship between its structure and control features is not promoted. Hence, a novel integrated structure-control design approach is proposed to simultaneously obtain the optimal structural description, the torque magnitudes, and the on/off time intervals for the control signal input of a semi-passive bipedal robot. The proposed approach takes advantage of the natural dynamics of the system and the control signal activation/deactivation for generating stable gait cycles with minimum energy consumption. Consequently, the passive features of the semi-passive bipedal robot are included in the integrated structure-control design process through evaluating the system behavior along consecutive passive and semi-passive walking stages. Then, the proposed design approach is formulated as a nonlinear discontinuous dynamic optimization problem, where the solution search is carried out using the differential evolution algorithm due to the discontinuities of the semi-passive bipedal robot dynamics. The results of the proposal are compared with those obtained by a sequential design process. The integrated structure-control design achieves a reduction of 63.55% in the value of the performance function related to the synergy between the walking capability and energetic efficiency, with a reduction in the activation of the control and its magnitude of 95.41%.
KW - Bipedal robots
KW - Differential evolution
KW - Optimization
KW - Passive bipedal walker
KW - Structure-control design
UR - http://www.scopus.com/inward/record.url?scp=85121371310&partnerID=8YFLogxK
U2 - 10.3390/math9131482
DO - 10.3390/math9131482
M3 - Artículo
AN - SCOPUS:85121371310
SN - 2227-7390
VL - 9
JO - Mathematics
JF - Mathematics
IS - 13
M1 - 1482
ER -