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Scaling Laws in Robotics


Dermitzakis, Konstantinos; Carbajal, Juan Pablo; Marden, James H (2011). Scaling Laws in Robotics. Procedia Computer Science, 7:250-252.

Abstract

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 ∝ m1.27). 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.

Abstract

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 ∝ m1.27). 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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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Scopus Subject Areas:Physical Sciences > General Computer Science
Language:English
Date:6 May 2011
Deposited On:30 Oct 2012 17:05
Last Modified:21 Jun 2022 16:33
Publisher:Elsevier
ISSN:1877-0509
OA Status:Green
Free access at:Publisher DOI. An embargo period may apply.
Publisher DOI:https://doi.org/10.1016/j.procs.2011.09.038
Other Identification Number:merlin-id:4929

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