An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot

2020 ◽  
Vol 17 (2) ◽  
pp. 290-302 ◽  
Author(s):  
Tianfa Li ◽  
Lelai Zhou ◽  
Yibin Li ◽  
Hui Chai ◽  
Kun Yang
2021 ◽  
Author(s):  
Shusheng Ye ◽  
Jianwen Luo ◽  
Caiming Sun ◽  
Bingchen Jin ◽  
Juntong Su ◽  
...  

Author(s):  
C Semini ◽  
N G Tsagarakis ◽  
E Guglielmino ◽  
M Focchi ◽  
F Cannella ◽  
...  

Energies ◽  
2019 ◽  
Vol 12 (13) ◽  
pp. 2514 ◽  
Author(s):  
Kun Yang ◽  
Yibin Li ◽  
Lelai Zhou ◽  
Xuewen Rong

Quadruped robots can be used to transport loads or conduct rescue missions on tough terrain. In addition to flexibility and adaptability to complex terrain, the hydraulic driven quadruped robots also have the important characteristic of energy consumption. This paper studies the trot gait motions of the quadruped robot SCalf. The energy model including the mechanical power and heat rate is established, which can be used to obtained the energy consumption of the robot. Compared with a cubic spline interpolation reference trajectory, a foot trajectory based on Fourier series is studied to reduce the joints energy consumption, and the parameters of the foot trajectory are acquired by the Pattern Search method. The effectiveness of the energy efficient trajectory is verified by simulations and verified on the robot prototype.


Author(s):  
Z G Zhang ◽  
H Kimura

In this paper, the system design and analysis of a quadruped robot, Rush, are presented. The quadruped robot was fabricated to study autonomous and efficient running on flat and rough terrain. It is a compact, kneed, four-legged machine with only one actuator per compliant leg. A novel control strategy for the quadruped robot has been proposed in consideration of several engineering limitations on sensory feedback. Several simulation studies have already been performed to confirm the validity of the control strategy in the previous reports. In this paper, the results obtained from experiments with Rush are found to agree with the simulation results. The reported work may help improve the understanding of energy-efficient running locomotion and the simple control required to autonomously stabilize it on flat or rough terrain.


2016 ◽  
Vol 3 (1) ◽  
Author(s):  
Satoshi Kitano ◽  
Shigeo Hirose ◽  
Atsushi Horigome ◽  
Gen Endo

2011 ◽  
Author(s):  
B. Smitha Shekar ◽  
M. Sudhakar Pillai ◽  
G. Narendra Kumar

2020 ◽  
Vol 39 (6) ◽  
pp. 8139-8147
Author(s):  
Ranganathan Arun ◽  
Rangaswamy Balamurugan

In Wireless Sensor Networks (WSN) the energy of Sensor nodes is not certainly sufficient. In order to optimize the endurance of WSN, it is essential to minimize the utilization of energy. Head of group or Cluster Head (CH) is an eminent method to develop the endurance of WSN that aggregates the WSN with higher energy. CH for intra-cluster and inter-cluster communication becomes dependent. For complete, in WSN, the Energy level of CH extends its life of cluster. While evolving cluster algorithms, the complicated job is to identify the energy utilization amount of heterogeneous WSNs. Based on Chaotic Firefly Algorithm CH (CFACH) selection, the formulated work is named “Novel Distributed Entropy Energy-Efficient Clustering Algorithm”, in short, DEEEC for HWSNs. The formulated DEEEC Algorithm, which is a CH, has two main stages. In the first stage, the identification of temporary CHs along with its entropy value is found using the correlative measure of residual and original energy. Along with this, in the clustering algorithm, the rotating epoch and its entropy value must be predicted automatically by its sensor nodes. In the second stage, if any member in the cluster having larger residual energy, shall modify the temporary CHs in the direction of the deciding set. The target of the nodes with large energy has the probability to be CHs which is determined by the above two stages meant for CH selection. The MATLAB is required to simulate the DEEEC Algorithm. The simulated results of the formulated DEEEC Algorithm produce good results with respect to the energy and increased lifetime when it is correlated with the current traditional clustering protocols being used in the Heterogeneous WSNs.


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