Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring

TL;DR

This paper introduces an adaptive torsion spring mechanism for legged robots that adjusts equilibrium position and stiffness to optimize energy efficiency during cyclic movements like walking and jumping.

Contribution

It presents a novel adaptive compliance system combining a torsion spring and servo-driven worm gear to reduce motor load and improve energy efficiency.

Findings

Significant reduction in power consumption in simulations

Effective compensation for motion-induced torque

Enhanced energy efficiency in robotic locomotion

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.