Improvement of energy consumption by movement of center of rotation of joint

Kazutoshi Tanaka, Satoshi Nishikawa, Yasuo Kuniyoshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robots mimicking the structure of the musculoskeletal systems have been de- veloped in order to realize high physical performance or to reveal the con- tribution of the musculoskeletal systems to body movements. The movement of center of rotation (CoR) of biological joints have been focused on in var- ious research fields. However, to date, the isolated contribution of the joint displaceable center of rotation (JDCR) on physical performance has not yet been analyzed. Revealing this contribution is expected to provide guidelines for the design methodology of robots. In this paper, we compared two mod- els in order to investigate the effect of JDCR on physical performance. The first model has two virtual links to represent the joint including the JDCR (JDCR model). The second model represents the joint with fixed CoR (JFCR model). We evaluated the two models by analyzing energy consumption during reaching motions. In addition, we examined energy consumption while the end effector traced a circular trajectory using extended models (eJDCR model and eJFCR model). The results showed that the energy consumption of models which include JDCR lower than models which does not under all tested con- ditions. This study suggested that a joint including JDCR can improve energy consumption.

Original languageEnglish
Title of host publicationNature-Inspired Mobile Robotics
Subtitle of host publicationProceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
Pages273-280
Number of pages8
Publication statusPublished - 2013
Externally publishedYes
Event16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 - Sydney, NSW, Australia
Duration: Jul 14 2013Jul 17 2013

Publication series

NameNature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013

Conference

Conference16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
CountryAustralia
CitySydney, NSW
Period7/14/137/17/13

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction

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