Low Impact Force and Energy Consumption Motion Planning for Hexapod Robot with Passive Compliant Ankles

The design and control of drones remain areas of active research, and here we review recent progress in this field. In this article, we discuss the design objectives and related physical scaling laws, focusing on energy consumption, agility and speed, and survivability and robustness. We divide the control of such vehicles into low-level stabilization and higher-level planning such as motion planning, and we argue that a highly relevant problem is the integration of sensing with control and planning. Lastly, we describe some vehicle morphologies and the trade-offs that they represent. We specifically compare multicopters with winged designs and consider the effects of multivehicle teams. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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Optimization of energy consumption for hexapod robot following inclined path using nontraditional gait

Unmanned Systems Technology XXIII ◽

10.1117/12.2584520 ◽

2021 ◽

Author(s):

Sameh Beaber ◽

Mohamed Sh. Khadr ◽

Ahmed Y. AbdelHamid ◽

Maged M. Abou Elyazed

Keyword(s):

Energy Consumption ◽

Hexapod Robot

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The Impact Behavior between Coal Gangue Particles and the Tail Beam Based on Rock Failure

Shock and Vibration ◽

10.1155/2021/5829239 ◽

2021 ◽

Vol 2021 ◽

pp. 1-15

Author(s):

Zhengyuan Xin ◽

Qingliang Zeng ◽

Yang Yang

Keyword(s):

Energy Consumption ◽

Impact Force ◽

Rock Failure ◽

Coal Gangue ◽

Dynamic Responses ◽

Particle Model ◽

Brittle Damage ◽

Failure Conditions ◽

Fracture Particle ◽

The Impact

In top coal caving mining, common impact occurs between coal gangue particles and tail beam. Little attention has been paid to the effects of coal gangue particles failure on impact force and tail beam response theoretically, numerically, and experimentally. This paper aims to reveal the influence of coal gangue particles failure on the impact effect of tail beam. First, this paper incorporates the theory of rock failure and energy consumption to assess the impact process of coal gangue particles on the tail beam. A new model to simulate the actual failure conditions of rock particles was developed: the brittle damage-fracture particle model. By comparing damage phenomena and simulation data, the brittle damage-fracture particle model was proved to be correct. Based on this model, a dynamic simulation of brittle coal gangue particles impacting the tail beam was conducted. Then, the dynamic responses of the particles and tail beam were analyzed. The results show that particle failure significantly affects the impact force and dynamic response of the tail beam. The impact effects of coal and gangue particles on the tail beam and their failure energy consumption also differed significantly. This paper stresses the importance of coal gangue particle failure conditions for research on top coal caving mining. Theoretical support is provided for the research of coal gangue identification technology based on the tail beam vibration signal.

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Motion Planning of an Innovative Serial Robot for Energy Consumption Reduction With “On Fly” Pieces Grasping

Volume 4: Fatigue and Fracture; Fluids Engineering; Heat Transfer; Mechatronics; Micro and Nano Technology; Optical Engineering; Robotics; Systems Engineering; Industrial Applications ◽

10.1115/esda2008-59057 ◽

2008 ◽

Author(s):

Andrea Menegolo ◽

Roberto Bussola ◽

Diego Tosi

Keyword(s):

Energy Consumption ◽

Motion Planning ◽

Cycle Time ◽

Moving Objects ◽

Vision System ◽

Rotation Velocity ◽

Simulation Software ◽

Serial Robot ◽

Planning Algorithm ◽

Point To Point

The following study deals with the on-line motion planning of an innovative SCARA like robot with unlimited joint rotations. The application field is the robotic interception of moving objects randomly distributed on a conveyor and detected by a vision system. A motion planning algorithm was developed in order to achieve a satisfactory cycle time and energy consumption. The algorithm is based on the evaluation of the inertial actions arisen in the robot structure during the pick and place motions and it aims to keep constant the rotation velocity of the first joint during the motion, the grasping and the discarding phases. Since the algorithm must be applied run time and the number of the reachable pieces can be high, a particular care was dedicated to the computational burden reduction. Subsequently to an analytic study of the kinematical constraints and the criteria definition for the choice of which piece to grasp, a devoted simulation software was developed. The software allows the control and the evaluation of the effects of all the main parameters on the system behavior and a comparison of the cycle time and the energy consumption between the proposed algorithm and a standard point-to-point motion strategy.

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