In this paper, we examine the question of whether parallel elastic actuation or series elastic actuation is better suited for hopping robots. To this end, we compare and contrast the two actuation concepts in energy optimal hopping motions. To enable a fair comparison, we employ optimal control to identify motion trajectories, actuator inputs, and system parameters that are optimally suited for each actuator concept. In other words, we compare the best possible hopper with parallel elastic actuation to the best possible hopper with series elastic actuation. The optimizations are conducted for three different cost functions: positive mechanical motor work, thermal electrical losses, and positive electrical work. Furthermore, we look at three representative cases for converting rotary motor motion to linear leg motion in a legged robot. Our model featured an electric DC-motor model, a gearbox with friction, damping in the leg spring, and contact collisions.
Flexible Muscle-Based Locomotion for Bipedal Creatures. Flexible Muscle-Based Locomotion for Bipedal Creatures. We present a control method for simulated bipeds, in which natural gaits are discovered through optimization. No motion capture or key frame animation was used in any of the results.
We find that the optimal actuator choice depends both on the cost function and conversion of motor motion to leg motion. When considering only thermal electrical losses, parallel elastic actuation always performs better. In terms of positive mechanical motor work and positive electrical work, series elastic actuation is better when there is little friction in the gear-train.
For higher gear-train friction parallel elastic actuation is more economical for these cost functions as well. This study investigated energetically optimal hopping motions for a one-dimensional (1D) hopper with either parallel elastic actuation (PEA, shown as schematic in ( a) and detailed model in ( c)) or series elastic actuation (SEA, ( b) and ( d)).
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For both hoppers we simultaneously optimized motion trajectories, actuator inputs, and actuation parameters for three different cost functions: positive mechanical motor work, thermal electrical losses, and positive electrical work. The optimization included main body position y, leg length l, motor position u (only for SEA), motor force after the transmission T o, spring stiffness k, and rotary gearbox ratio n r (not shown). The optimal positive electrical work values at a hopping height of h = 1.3 ℓ o. Three cases are shown: a theoretical entirely frictionless transmission, a rotary to linear transmission of nℓ=200 rad/ℓo with a rotary gearbox with friction, and a rotary to linear transmission of nℓ=2 rad/ℓo with a rotary gearbox with friction.
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SEA is the most energetically economical choice for both the frictionless transmission and nℓ=200 rad/ℓo cases. PEA is better for the nℓ=2 rad/ℓo case. ( a) frictionless transmission, ( b) rotary gearbox with friction, frictionless n l = 200 rad/ ℓ o, and ( c) rotary gearbox with friction, frictionless n l = 200 rad/ ℓ o. Optimal motions and actuator inputs for the frictionless transmission. Shown are the results for optimizations based on positive mechanical motor work, thermal losses, and electrical work. The leg motion for SEA (dashed line) is very similar for all cost functions. In contrast, for PEA (solid line), the leg motion is drastically different when optimized for positive mechanical motor work as compared to thermal losses.
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In this paper, we examine the question of whether parallel elastic actuation or series elastic actuation is better suited for hopping robots. To this end, we compare and contrast the two actuation concepts in energy optimal hopping motions. To enable a fair comparison, we employ optimal control to identify motion trajectories, actuator inputs, and system parameters that are optimally suited for each actuator concept. In other words, we compare the best possible hopper with parallel elastic actuation to the best possible hopper with series elastic actuation. The optimizations are conducted for three different cost functions: positive mechanical motor work, thermal electrical losses, and positive electrical work. Furthermore, we look at three representative cases for converting rotary motor motion to linear leg motion in a legged robot. Our model featured an electric DC-motor model, a gearbox with friction, damping in the leg spring, and contact collisions.
Flexible Muscle-Based Locomotion for Bipedal Creatures. Flexible Muscle-Based Locomotion for Bipedal Creatures. We present a control method for simulated bipeds, in which natural gaits are discovered through optimization. No motion capture or key frame animation was used in any of the results.
We find that the optimal actuator choice depends both on the cost function and conversion of motor motion to leg motion. When considering only thermal electrical losses, parallel elastic actuation always performs better. In terms of positive mechanical motor work and positive electrical work, series elastic actuation is better when there is little friction in the gear-train.
For higher gear-train friction parallel elastic actuation is more economical for these cost functions as well. This study investigated energetically optimal hopping motions for a one-dimensional (1D) hopper with either parallel elastic actuation (PEA, shown as schematic in ( a) and detailed model in ( c)) or series elastic actuation (SEA, ( b) and ( d)).
Korg pa600 indian styles free download. The Pa900 version contains 94 Styles and 48 Sounds/Performances. Now available for the Pa600 (US $250) and Pa900 (US $350) arrangers.
For both hoppers we simultaneously optimized motion trajectories, actuator inputs, and actuation parameters for three different cost functions: positive mechanical motor work, thermal electrical losses, and positive electrical work. The optimization included main body position y, leg length l, motor position u (only for SEA), motor force after the transmission T o, spring stiffness k, and rotary gearbox ratio n r (not shown). The optimal positive electrical work values at a hopping height of h = 1.3 ℓ o. Three cases are shown: a theoretical entirely frictionless transmission, a rotary to linear transmission of nℓ=200 rad/ℓo with a rotary gearbox with friction, and a rotary to linear transmission of nℓ=2 rad/ℓo with a rotary gearbox with friction.
• (Hashim) New investors in the stock market need an watchdog constantly which StockwarePro can do for them, also the portfolio is. Evidence eliminator download. • (kenessa) This is to make your Mac work faster and clean the unnecessary files effortlessly, also can take backup of important files.
SEA is the most energetically economical choice for both the frictionless transmission and nℓ=200 rad/ℓo cases. PEA is better for the nℓ=2 rad/ℓo case. ( a) frictionless transmission, ( b) rotary gearbox with friction, frictionless n l = 200 rad/ ℓ o, and ( c) rotary gearbox with friction, frictionless n l = 200 rad/ ℓ o. Optimal motions and actuator inputs for the frictionless transmission. Shown are the results for optimizations based on positive mechanical motor work, thermal losses, and electrical work. The leg motion for SEA (dashed line) is very similar for all cost functions. In contrast, for PEA (solid line), the leg motion is drastically different when optimized for positive mechanical motor work as compared to thermal losses.
...'>Flexible Muscle-based Locomotion For Bipedal Creatures Download(06.02.2019)In this paper, we examine the question of whether parallel elastic actuation or series elastic actuation is better suited for hopping robots. To this end, we compare and contrast the two actuation concepts in energy optimal hopping motions. To enable a fair comparison, we employ optimal control to identify motion trajectories, actuator inputs, and system parameters that are optimally suited for each actuator concept. In other words, we compare the best possible hopper with parallel elastic actuation to the best possible hopper with series elastic actuation. The optimizations are conducted for three different cost functions: positive mechanical motor work, thermal electrical losses, and positive electrical work. Furthermore, we look at three representative cases for converting rotary motor motion to linear leg motion in a legged robot. Our model featured an electric DC-motor model, a gearbox with friction, damping in the leg spring, and contact collisions.
Flexible Muscle-Based Locomotion for Bipedal Creatures. Flexible Muscle-Based Locomotion for Bipedal Creatures. We present a control method for simulated bipeds, in which natural gaits are discovered through optimization. No motion capture or key frame animation was used in any of the results.
We find that the optimal actuator choice depends both on the cost function and conversion of motor motion to leg motion. When considering only thermal electrical losses, parallel elastic actuation always performs better. In terms of positive mechanical motor work and positive electrical work, series elastic actuation is better when there is little friction in the gear-train.
For higher gear-train friction parallel elastic actuation is more economical for these cost functions as well. This study investigated energetically optimal hopping motions for a one-dimensional (1D) hopper with either parallel elastic actuation (PEA, shown as schematic in ( a) and detailed model in ( c)) or series elastic actuation (SEA, ( b) and ( d)).
Korg pa600 indian styles free download. The Pa900 version contains 94 Styles and 48 Sounds/Performances. Now available for the Pa600 (US $250) and Pa900 (US $350) arrangers.
For both hoppers we simultaneously optimized motion trajectories, actuator inputs, and actuation parameters for three different cost functions: positive mechanical motor work, thermal electrical losses, and positive electrical work. The optimization included main body position y, leg length l, motor position u (only for SEA), motor force after the transmission T o, spring stiffness k, and rotary gearbox ratio n r (not shown). The optimal positive electrical work values at a hopping height of h = 1.3 ℓ o. Three cases are shown: a theoretical entirely frictionless transmission, a rotary to linear transmission of nℓ=200 rad/ℓo with a rotary gearbox with friction, and a rotary to linear transmission of nℓ=2 rad/ℓo with a rotary gearbox with friction.
• (Hashim) New investors in the stock market need an watchdog constantly which StockwarePro can do for them, also the portfolio is. Evidence eliminator download. • (kenessa) This is to make your Mac work faster and clean the unnecessary files effortlessly, also can take backup of important files.
SEA is the most energetically economical choice for both the frictionless transmission and nℓ=200 rad/ℓo cases. PEA is better for the nℓ=2 rad/ℓo case. ( a) frictionless transmission, ( b) rotary gearbox with friction, frictionless n l = 200 rad/ ℓ o, and ( c) rotary gearbox with friction, frictionless n l = 200 rad/ ℓ o. Optimal motions and actuator inputs for the frictionless transmission. Shown are the results for optimizations based on positive mechanical motor work, thermal losses, and electrical work. The leg motion for SEA (dashed line) is very similar for all cost functions. In contrast, for PEA (solid line), the leg motion is drastically different when optimized for positive mechanical motor work as compared to thermal losses.
...'>Flexible Muscle-based Locomotion For Bipedal Creatures Download(06.02.2019)