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However, combining mechanism efficiency and trajectory planning can be challenging. This work proposes a computational optimization framework for optimizing leg design during basic walking while maximizing energy efficiency. We generalize the robotic limb design as a four-bar linkage-based design pool and optimize the leg using an evolutionary algorithm. The leg configuration and design parameters are optimized based on user-defined objective functions. Our framework was validated by comparing it to measured data on our prototype quadruped robot for forward trotting. The Bennett robotic leg was advantageous for omni-directional locomotion with enhanced energy efficiency.<\/jats:p>","DOI":"10.1093\/jcde\/qwad083","type":"journal-article","created":{"date-parts":[[2023,8,23]],"date-time":"2023-08-23T00:37:03Z","timestamp":1692751023000},"page":"1941-1956","source":"Crossref","is-referenced-by-count":12,"title":["Computational design towards energy efficient optimization in overconstrained robotic limbs"],"prefix":"10.1093","volume":"10","author":[{"given":"Yuping","family":"Gu","sequence":"first","affiliation":[{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China"},{"name":"Department of Computer Science, The University of Hong Kong , Pok Fu Lam, Hong Kong, 999077, China"}]},{"given":"Ziqian","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China"},{"name":"Peng Cheng Laboratory , 2 Xingke First Road, Shenzhen, 518066, China"}]},{"given":"Shihao","family":"Feng","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China"}]},{"given":"Haoran","family":"Sun","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China"},{"name":"Department of Computer Science, The University of Hong Kong , Pok Fu Lam, Hong Kong, 999077, China"}]},{"given":"Haibo","family":"Lu","sequence":"additional","affiliation":[{"name":"Peng Cheng Laboratory , 2 Xingke First Road, Shenzhen, 518066, China"}]},{"given":"Jia","family":"Pan","sequence":"additional","affiliation":[{"name":"Department of Computer Science, The University of Hong Kong , Pok Fu Lam, Hong Kong, 999077, China"}]},{"given":"Fang","family":"Wan","sequence":"additional","affiliation":[{"name":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0166-8112","authenticated-orcid":false,"given":"Chaoyang","family":"Song","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, China"},{"name":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology , 1088 Xueyuan Road, 518055 Shenzhen, 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