Previous Article in Journal
Multi-Feature Facial Complexion Classification Algorithms Based on CNN
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Biomimetics
Volume 10
Issue 6
10.3390/biomimetics10060403
biomimetics-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Bionic Energy-Efficient Inverse Kinematics Method Based on Neural Networks for the Legs of Hydraulic Legged Robots

by
Jinbo She
1,
Xiang Feng
1,
Bao Xu
1,
Linyang Chen
1,
Yuan Wang
1,
Ning Liu
1,
Wenpeng Zou
1,
Guoliang Ma
1,2,*,
Bin Yu
1,2 and
Kaixian Ba
1,2,*
1
School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
2
The State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao 066004, China
*
Authors to whom correspondence should be addressed.
Biomimetics 2025, 10(6), 403; https://doi.org/10.3390/biomimetics10060403 (registering DOI)
Submission received: 28 April 2025 / Revised: 6 June 2025 / Accepted: 12 June 2025 / Published: 14 June 2025
(This article belongs to the Special Issue Biomimetic Robot Motion Control)
Versions Notes

Abstract

Hydraulic legged robots, with advantages such as high load capacity and power density, have become a strategic driving force in advancing intelligent mobile platform technologies. However, their high energy consumption significantly limits long-duration endurance and efficient operational performance. In this paper, inspired by the excellent autonomous energy-efficient consciousness of mammals endowed by natural evolution, a bionic energy-efficient inverse kinematics method based on neural networks (EIKNN) is proposed for the energy-efficient motion planning of hydraulic legged robots with redundant degrees of freedom (RDOFs). Firstly, the dynamic programming (DP) algorithm is used to solve the optimal joint configuration with minimum energy loss as the goal, and the training data set is generated. Subsequently, the inverse kinematic model of the leg with minimum energy loss is learned based on neural network (NN) simulation of the autonomous energy-efficient consciousness endowed to mammals by natural evolution. Finally, extensive comparative experiments validate the effectiveness and superiority of the proposed method. This method not only significantly reduces energy dissipation in hydraulic legged robots but also lays a crucial foundation for advancing hydraulic legged robot technology toward high efficiency, environmental sustainability, and long-term developmental viability.
Keywords: hydraulic legged robot; redundant degree of freedom (RDOF); energy-saving; inverse kinematics; neural network (NN) hydraulic legged robot; redundant degree of freedom (RDOF); energy-saving; inverse kinematics; neural network (NN)

Share and Cite

MDPI and ACS Style

She, J.; Feng, X.; Xu, B.; Chen, L.; Wang, Y.; Liu, N.; Zou, W.; Ma, G.; Yu, B.; Ba, K. Bionic Energy-Efficient Inverse Kinematics Method Based on Neural Networks for the Legs of Hydraulic Legged Robots. Biomimetics 2025, 10, 403. https://doi.org/10.3390/biomimetics10060403

AMA Style

She J, Feng X, Xu B, Chen L, Wang Y, Liu N, Zou W, Ma G, Yu B, Ba K. Bionic Energy-Efficient Inverse Kinematics Method Based on Neural Networks for the Legs of Hydraulic Legged Robots. Biomimetics. 2025; 10(6):403. https://doi.org/10.3390/biomimetics10060403

Chicago/Turabian Style

She, Jinbo, Xiang Feng, Bao Xu, Linyang Chen, Yuan Wang, Ning Liu, Wenpeng Zou, Guoliang Ma, Bin Yu, and Kaixian Ba. 2025. "Bionic Energy-Efficient Inverse Kinematics Method Based on Neural Networks for the Legs of Hydraulic Legged Robots" Biomimetics 10, no. 6: 403. https://doi.org/10.3390/biomimetics10060403

APA Style

She, J., Feng, X., Xu, B., Chen, L., Wang, Y., Liu, N., Zou, W., Ma, G., Yu, B., & Ba, K. (2025). Bionic Energy-Efficient Inverse Kinematics Method Based on Neural Networks for the Legs of Hydraulic Legged Robots. Biomimetics, 10(6), 403. https://doi.org/10.3390/biomimetics10060403

Article Metrics

Back to TopTop