TY - JOUR
T1 - Scaling laws in robotics
AU - Dermitzakis, Konstantinos
AU - Carbajal, Juan Pablo
AU - Marden, James H.
N1 - Funding Information:
The authors would like to thank Prof. Rolf Pfeifer, director of the Artificial Intelligence Laboratory of the University of Zurich for his support in this study. The research leading to these results has received funding from the European Community's Seventh Framework Programme FP7/2007-2013-Challenge 2-Cognitive Systems, Interaction, Robotics- under grant agreement No 248311-AMARSi. This work is also supported by the Swiss National Science Foundation project CR23I2132702/1.
PY - 2011
Y1 - 2011
N2 - Scaling laws are pervasive in biological systems, found in a large number of life processes, and across 27 orders of magnitude. Recent findings show both biological and engineered motors adhering to two fundamental regimes for the mass scaling of maximum force output. This scaling law is of particular interest for the robotics field as it can affect the design stage of a robot. In this study we present data of motors commonly used in robotic applications and find an adherence to a similar power law of mass scaling of maximum torque output in two groups, group a, (Ga ∝ m1.00) and group b (Gb ∝ m 1.27). Findings imply that there could exist an upper motor limit of maximum specific torque/force that should be taken under consideration in robot design. Additionally, we show how a robot's minimum mass can be calculated with motor mass being the only necessary parameter.
AB - Scaling laws are pervasive in biological systems, found in a large number of life processes, and across 27 orders of magnitude. Recent findings show both biological and engineered motors adhering to two fundamental regimes for the mass scaling of maximum force output. This scaling law is of particular interest for the robotics field as it can affect the design stage of a robot. In this study we present data of motors commonly used in robotic applications and find an adherence to a similar power law of mass scaling of maximum torque output in two groups, group a, (Ga ∝ m1.00) and group b (Gb ∝ m 1.27). Findings imply that there could exist an upper motor limit of maximum specific torque/force that should be taken under consideration in robot design. Additionally, we show how a robot's minimum mass can be calculated with motor mass being the only necessary parameter.
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U2 - 10.1016/j.procs.2011.09.038
DO - 10.1016/j.procs.2011.09.038
M3 - Conference article
AN - SCOPUS:84856408759
SN - 1877-0509
VL - 7
SP - 250
EP - 252
JO - Procedia Computer Science
JF - Procedia Computer Science
T2 - 2nd European Future Technologies Conference and Exhibition 2011, FET 11
Y2 - 4 May 2011 through 6 May 2011
ER -