Fin Ray Crossbeam Angles for Efficient Foot Design for Energy‐Efficient Robot Locomotion
Poramate Manoonpong, Hamed Rajabi, Jørgen Christian Larsen, Seyed S. Raoufi, Naris Asawalertsak, Jettanan Homchanthanakul, Halvor T. Tramsen, A. Darvizeh, Stanislav N. Gorb
Abstract
Energy-Efficient Robot Locomotion In article number 2100133, Poramate Manoonpong and co-workers present an integrative approach, combining 3D printing with soft material, finite element modeling, and neural control, to investigate the Fin Ray effect at various crossbeam angles and demonstrate that, among other angles, the Fin Ray model with nonstandard 10°-inclined crossbeams has a greater contact area to a curved surface and better durability. Using this 10° angle for efficient foot design can enhance on-pipe robot locomotion efficiency.
Topics & Concepts
RobotFinMechanical engineeringFinite element methodEnergy (signal processing)DurabilityEngineeringComputer scienceStructural engineeringSimulationMaterials scienceArtificial intelligencePhysicsComposite materialQuantum mechanicsProsthetics and Rehabilitation RoboticsMuscle activation and electromyography studiesRobotic Locomotion and Control