NDLI: Power Consumption Optimization for a Hexapod Walking Robot

Content Provider	Springer Nature Link
Author	Jin, Bo Chen, Cheng Li, Wei
Copyright Year	2012
Abstract	Power consumption is one of the main operational restrictions on autonomous walking robots. In this paper, an energy efficiency analysis is performed for a hexapod walking robot to reduce these energy costs. To meet the power-saving demands of legged robots, the torque distribution algorithm required to minimize the system’s energy costs was established with an energy-consumption model formulated. In contrast to the force distribution method, where the objective function is related to the tip-point force components, the torque distribution scheme is based on minimization of the mechanical energy cost and heat loss power. The simulation results show that this scheme could reduce the system energy costs with use of the appropriate walking velocities and duty factors for the robot. The paper also discusses the effects of the gait patterns and the mechanical structure on the system energy costs. For this purpose, the prescribed periodic walking gait of the robot is described in terms of several parameters, including the duty factor, the stride length, the body height, and the foot trajectory lateral offset. The numerical results indicate some analogies between the characteristics of the simulated walking robot and those of animals in nature. The optimized parameters derived here are intended for robot platform development applications.
Starting Page	195
Ending Page	209
Page Count	15
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	71
Issue Number	2
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2012-09-02
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Hexapod robot Foot force distribution Torque distribution Energy cost Heat loss Optimal gait parameters Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Fault-Tolerant Gait Planning for a Hexapod Robot Walking over Rough Terrain

Terrain Classification and Negotiation with a Walking Robot

Optimal Protraction of a Biologically Inspired Robot Leg

Foot Force Based Reactive Stability of Multi-Legged Robots to External Perturbations

Generation and Analyses of the Reinforced Wave Gait for a Mammal-Like Quadruped Robot

Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm

Dynamic Modeling of Energy efficient Crab Walking of Hexapod Robot

Realization of Dynamic Stair Climbing for Biped Humanoid Robot Using Force/Torque Sensors

Posture Stabilization Strategy for a Trotting Point-foot Quadruped Robot

Power Consumption Optimization for a Hexapod Walking Robot

Similar Documents

Fault-Tolerant Gait Planning for a Hexapod Robot Walking over Rough Terrain

Terrain Classification and Negotiation with a Walking Robot

Optimal Protraction of a Biologically Inspired Robot Leg

Foot Force Based Reactive Stability of Multi-Legged Robots to External Perturbations

Generation and Analyses of the Reinforced Wave Gait for a Mammal-Like Quadruped Robot

Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm

Dynamic Modeling of Energy efficient Crab Walking of Hexapod Robot

Realization of Dynamic Stair Climbing for Biped Humanoid Robot Using Force/Torque Sensors

Posture Stabilization Strategy for a Trotting Point-foot Quadruped Robot

Power Consumption Optimization for a Hexapod Walking Robot