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

fYear

2002

fDate

9-11 Nov. 2002

Firstpage

113

Lastpage

117

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on

Print_ISBN

83-7143-429-4

Type

conf

DOI

10.1109/ROMOCO.2002.1177094

Filename

1177094