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.

中文翻译：

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通过田口方法和生物启发分析的仿人机器人节能髋关节偏移

尽管先前的研究提高了类人机器人的能效以增加移动性，但尚无研究考虑到髋关节之间的偏移。在这里，我们通过Taguchi方法优化了人形机器人中髋关节的偏移，以最大程度地提高能量效率。在优化过程中，选择髋关节之间的偏移量作为控制因素，并将三个驱动的髋关节的均方根功率消耗之和作为目标函数。我们分析了在物理仿真软件中实现的人形机器人模型的功耗。由于Taguchi方法最初是为进行稳健的优化而设计的，因此我们选择了转弯，前进，后退和侧向行走运动作为噪声因素。通过两个优化阶段，我们获得了人形髋关节偏移的最佳结果。我们通过比较原始模型和优化人形模型的均方根（RMS）功耗来验证结果，发现在目标运动中RMS功耗减少了25％以上。通过人类步态力学的生物启发分析，我们探索了降低功耗的原因。随着前额平面中左右髋关节之间的距离变窄，上身的摇摆运动幅度减小。我们发现，优化关节配置的上半身减少的摇摆运动可有效提高能量效率，类似于人体重心（COG）路径对人体步行效率的影响。