Energy Optimal Trajectory Planning by Natural Motion Patterns

Energy-optimal path planning by exploiting natural movement patterns

In continuation of the research work on underactuated manipulators, in which the movement of passive joints occurs via dynamic couplings such as inertia, Coriolis and centrifugal forces, these couplings are to be deliberately exploited for energy-optimal path planning of fullyactuated systems.

Description

Natural movements of humans and animals show an evolutionary exploitation of the dynamic linkages between individual limbs. Within this project, the exploitation of non-linear dynamic couplings for the reduction of energy consumption in technical applications should therefore take place in analogy to natural movements. 

The goal is the development of a generally valid method for path planning that allows an energy reduction of mechanisms with any actuator configuration. The basis for this is to allow deviations from the non-energy-optimal target trajectory. These deviations are defined in the form of a tolerance band. Within the tolerance band, the couplings can be used to a greater extent, leading to movements with reduced energy consumption. 

At a later stage, the path planning methodology is to be transferred to closed kinematic chains. This enables the use in running machines such as BARt-UH.