NDLI: Optimal Protraction of a Biologically Inspired Robot Leg

Content Provider	Springer Nature Link
Author	Erden, Mustafa Suphi
Copyright Year	2011
Abstract	In this paper, protraction movement, namely forward stepping, of a biologically inspired three-joint robot leg is optimized for minimum energy consumption. Trajectory optimization is performed for various initial-final tip point positions of protraction. A modified version of gradient descent based optimal control algorithm is used. The objective function is modified in steps to jump over many unfeasible and inefficient local optima. The optimized trajectories are used to construct a radial basis function neural network (RBFNN) to interpolate for the untrained regions. The results of optimization are compared with the observations of protraction of stick insects. It is concluded that a direct biological imitation of protraction is not energy efficient. A sample protraction of a leg of the Robot-EA308 is demonstrated in guidance of the optimized trajectory. Energy optimal protraction of a robot leg necessitates flexion of the leg, rather than extension as observed in the stick insects.
Starting Page	301
Ending Page	322
Page Count	22
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	64
Issue Number	3-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2011-02-19
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Robot leg Protraction Optimal control Walking Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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