Show/Hide Menu
Hide/Show Apps
anonymousUser
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Açık Bilim Politikası
Açık Bilim Politikası
Frequently Asked Questions
Frequently Asked Questions
Browse
Browse
By Issue Date
By Issue Date
Authors
Authors
Titles
Titles
Subjects
Subjects
Communities & Collections
Communities & Collections
Optimal Protraction of a Biologically Inspired Robot Leg
Date
2011-12-01
Author
Erden, Mustafa Suphi
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
1
views
0
downloads
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.
Subject Keywords
Control and Systems Engineering
,
Mechanical Engineering
,
Electrical and Electronic Engineering
,
Industrial and Manufacturing Engineering
,
Software
,
Artificial Intelligence
URI
https://hdl.handle.net/11511/63566
Journal
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
DOI
https://doi.org/10.1007/s10846-011-9538-8
Collections
Department of Electrical and Electronics Engineering, Article