Title :
Optimization of power consumption of anthropomorphic robots driven by electromotor
Author :
Martynenko, Yu.G. ; Siregar, H.P.
Author_Institution :
Theor. Mech. Dept., Moscow Power Eng. Inst., Russia
Abstract :
The object of our research is electromechanical controlled biped walking robot. The purpose of the work is to develop numerical parametrical optimization methods for control of walking robot by taking account of transient in the circuits of electric drive. The criterion of optimization is the minimum of electromechanical work. With classical variational control methods, for the simplest model of overturned mathematical pendulum, analytical solution of optimization problem on the fixed interval of time is constructed. Power consumptions under the walking control of multi-linked walking robot are analyzed.
Keywords :
legged locomotion; optimisation; power consumption; anthropomorphic robots; electromechanical controlled biped walking robot; electromotor; numerical parametrical optimization; optimization problem; overturned mathematical pendulum; power consumption; power consumptions; variational control methods; Anthropomorphism; Differential equations; Electric motors; Electromechanical systems; Energy consumption; Leg; Legged locomotion; Optimization methods; Robot control; Robot kinematics;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177094
