An experimental energy consumption comparison between trajectories generated by using the cart-table model and an optimization approach for the Bioloid robot

Jeison Tacué,Diego Bravo,Carlos Rengifo

doi:10.1177/1729881420917808

Jeison Tacué, Diego Bravo + Show 1 more

Open Access

https://doi.org/10.1177/1729881420917808

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Abstract

The aim of this article is to present a statistical comparison of the electric energy expenditure between two techniques for the generation of gait patterns in biped robots. The first one is to minimize the sum of the squared torques applied to the joints of the robot, and the second one is based on the cart-table model. For the experiments, we measured the energy delivered by the battery of the robot to the servomotors. We applied the two aforementioned methods for three velocities (0.5, 1.0, and 1.3 m/min). Additionally, each combination of method and velocity was performed by the robot 10 times. The energy expenditure for each method was compared by applying the Wilcoxon test. In all comparisons, the value of p was lower than 0.004, indicating that the differences were statistically significant. The optimization approach leads to a reduction in energy expenditure that ranged from 9.16 % to 13.35 %. The conclusion is that all the effort required to implement an approach that requires a complete dynamic model of the robot allows a significant reduction in energy consumption.

Highlights

Robots and mechatronic systems are required to be energetically efficient, especially when they are conceived for high-speed continuous operations.[1]
The aim of this work is to contribute with experimental evidence to answer the following question: Does the generation of trajectories based on numerical optimization lead to significant energy savings compared to the cart-table method? In addition, a penalty-based optimization approach that allows to generate joint trajectories of minimal energy expenditure in biped robots is proposed
The power supply module includes external regulators to ensure that the reference for the analog to digital converters (ADC) of the Arduino Nano V3 board remains constant despite the voltage fluctuations across the terminals of the LIPO battery

Summary

Introduction

Robots and mechatronic systems are required to be energetically efficient, especially when they are conceived for high-speed continuous operations.[1]. The problem of efficiency has been addressed in biped robots because their autonomous operation requires independent energy sources such as batteries.

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