2024/11/27 by Danil Belov, Belov, Danil, Artem Erkhov +13
Engineering · Biochemistry, Genetics and Molecular Biology · #Robotic Locomotion and Control #Robotic Mechanisms and Dynamics #Viral Infectious Diseases and Gene Expression in Insects
paper · pdf · doi:10.48550/arxiv.2411.18295
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.