Optimizing Energy Consumption for Legged Robot by Adapting Equilibrium Position and Stiffness of a Parallel Torsion Spring
Year: 2024
Type: conference-paper
Abstract: This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy efficiency during cyclic movements, such as walking and jumping. The adaptive compliance mechanism, consisting of a torsion spring combined with a worm gear driven by a servo actuator, compensates for motion-induced torque and reduces motor load. Simulation results demonstrate a significant reduction in power consumption, highlighting the effectiveness of this approach in enhancing robotic locomotion.
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: Russian Science Foundation
Award: G2841149998
OpenAlex ID: W4408200849