Next Article in Journal
Asymmetries in the Technique and Ground Reaction Forces of Elite Alpine Skiers Influence Their Slalom Performance
Next Article in Special Issue
Snake Robot with Driving Assistant Mechanism
Previous Article in Journal
Application Experiences Using IoT Devices in Education
Open AccessArticle

Energy-Efficient Hip Joint Offsets in Humanoid Robot via Taguchi Method and Bio-inspired Analysis

School of Mechanical Engineering, Chung-Ang University, Seoul 06974, Korea
Korea Institute of Science and Technology, Seoul 02792, Korea
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(20), 7287;
Received: 26 August 2020 / Revised: 13 October 2020 / Accepted: 15 October 2020 / Published: 18 October 2020
(This article belongs to the Special Issue Advances in Bio-Inspired Robots)
Although previous research has improved the energy efficiency of humanoid robots to increase mobility, no study has considered the offset between hip joints to this end. Here, we optimized the offsets of hip joints in humanoid robots via the Taguchi method to maximize energy efficiency. During optimization, the offsets between hip joints were selected as control factors, and the sum of the root-mean-square power consumption from three actuated hip joints was set as the objective function. We analyzed the power consumption of a humanoid robot model implemented in physics simulation software. As the Taguchi method was originally devised for robust optimization, we selected turning, forward, backward, and sideways walking motions as noise factors. Through two optimization stages, we obtained near-optimal results for the humanoid hip joint offsets. We validated the results by comparing the root-mean-square (RMS) power consumption of the original and optimized humanoid models, finding that the RMS power consumption was reduced by more than 25% in the target motions. We explored the reason for the reduction of power consumption through bio-inspired analysis from human gait mechanics. As the distance between the left and right hip joints in the frontal plane became narrower, the amplitude of the sway motion of the upper body was reduced. We found that the reduced sway motion of the upper body of the optimized joint configuration was effective in improving energy efficiency, similar to the influence of the pathway of the body’s center of gravity (COG) on human walking efficiency. View Full-Text
Keywords: humanoid robot; energy efficiency; Taguchi method humanoid robot; energy efficiency; Taguchi method
Show Figures

Figure 1

MDPI and ACS Style

Kim, J.; Yang, J.; Yang, S.T.; Oh, Y.; Lee, G. Energy-Efficient Hip Joint Offsets in Humanoid Robot via Taguchi Method and Bio-inspired Analysis. Appl. Sci. 2020, 10, 7287.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

Search more from Scilit
Back to TopTop