The Research about Energy Consumption and Using Motion Function of Mass Center for Four-Legged Walking Robot

2012 ◽  
Vol 163 ◽  
pp. 176-179 ◽  
Author(s):  
Xin Jie Wang ◽  
Liang Wen Wang ◽  
An Sheng Li ◽  
Chuan Peng Wang
Keyword(s):  
Energy Consumption ◽  
Moment Function ◽  
Mass Motion ◽  
Mass Center ◽  
Walking Robot ◽  
Motion Function ◽  
Torque Moment ◽  
Motion Performance ◽  
Small Torque ◽  
Robot Running

In order to reducing motors energy consumption, the problem about motion function, which has torque feature (AV) m small, is discussed in this paper. Conventional functions and small torque moment function are used to control mass center motion of robot ZQROT-I respectively. In the process of robot running the straight gait , motion performance of the robot is analyzed by ADAMS. Analysis result indicates that function controlling mass motion of robot with small torque feature has significant meaning for saving working energy of robot.

The Energy Consumption Analysis of Four-Legged Walking Robot by Using Different Motion Laws

2012 ◽  
Vol 220-223 ◽  
pp. 1212-1216
Author(s):  
Xiao Hui Zhang ◽  
Xin Jie Wang ◽  
Liang Wen Wang ◽  
Wei Hong Chen
Keyword(s):  
Energy Consumption ◽  
Motion Parameter ◽  
Mass Motion ◽  
Robot Motion ◽  
Mass Center ◽  
Walking Robot ◽  
Drive Power ◽  
Energy Consumption Analysis ◽  
Drive Motor ◽  
Motion Performance

In this paper, controlling the motion of mass center of robot by different motion laws is discussed to reduce motor’s drive power of robot joint. Firstly, correlation theory is described; obtain that if the (AV) value of motion parameter of robot’ mass center is smaller; the torque of drive motor which needs to drive robot is smaller under the same conditions. Then, in the process of robot ZQROT-I running the straight gait, two typical motion laws are used to control mass motion of robot; motion performance of the robot is analyzed with Adams. Analysis result indicates that control mass motion of robot by the use of motion laws with small (AV) value has certain effect in saving working energy of robot.

ON-BOARD ENERGY CONSUMPTION ESTIMATION FOR A SIX-LEGGED WALKING ROBOT

2011 ◽  
Author(s):  
A. Roennau ◽  
F. Sutter ◽  
T. Kerscher ◽  
R. Dillmann
Keyword(s):  
Energy Consumption ◽  
Walking Robot

scholarly journals Mechanical Design and Gait Optimization of Hydraulic Hexapod Robot Based on Energy Conservation

2020 ◽  
Vol 10 (11) ◽  
pp. 3884
Author(s):  
Shou Zhai ◽  
Bo Jin ◽  
Yilu Cheng
Keyword(s):  
Energy Consumption ◽  
Mechanical Design ◽  
Optimal Solution ◽  
Design Sensitivity ◽  
Unit Weight ◽  
Total Power ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Mechanical Structure ◽  
Highly Nonlinear

Minimizing energy consumption is significant for the hydraulic walking robot to reduce its power unit weight and increase working hours. However, most robot leg designs are inefficient due to their bio-mimetic or mission-specific mechanical structure. This paper presents a structural optimization method of the hydraulic walking robot by optimizing its mechanical structure and gait parameters simultaneously. The mathematical model of the total power of the hydraulic hexapod robot (HHR) is established, which is derived based on a general template for designing the hydraulic walking robot. The archive-based micro genetic algorithm (AMGA) is used to optimize the highly nonlinear multi-constraint multi-objective optimizations. In the optimal solution, the energy consumption of the HHR has reduced more than 40% by comparison with the original mechanical structure and gait parameter. Design sensitivity analysis is carried out to determine the regulation of mechanical structure, and a virtual prototype is used to verify the effectiveness of the proposed methods.

OPTIMAL DESIGN OF HEXAPOD WALKING ROBOT LEG STRUCTURE BASED ON ENERGY CONSUMPTION AND WORKSPACE

2014 ◽  
Vol 38 (3) ◽  
pp. 305-317 ◽  
Author(s):  
Ya-guang Zhu ◽  
Bo Jin ◽  
Wei Li ◽  
Shi-tong Li
Keyword(s):  
Energy Consumption ◽  
Optimal Design ◽  
Minimum Energy ◽  
Inequality Constraints ◽  
Optimal Parameters ◽  
Walking Robot ◽  
Total Energy Consumption ◽  
Joint Torques ◽  
Minimum Energy Consumption ◽  
Robot Leg

In order to achieve the optimal design of the hexapod walking robot leg structure, a combined index of energy consumption and workspace is raised. By deriving the energy consumption functions and analyzing the target workspace, a mathematical model of nonlinear programming with inequality constraints is established. The genetic algorithm coupled with inverse kinematics and trajectory planning in a gait period is utilized to solve the optimization problem. The analysis verifies that the requirements of turning and obstacle overcoming can be satisfied, and the total energy consumption can be reduced. The results show that the optimal parameters not only satisfy the requirement of the target workspace, but also achieve the minimum energy consumption and lower joint torques.

scholarly journals HEXAPOD WALKING ROBOT ENERGY CONSUMPTION DEPENDENCE ON DIFFERENT GAITS AND SPEED WHILE MOVING ON EVEN TERRAIN / ŠEŠIAKOJO ROBOTO ENERGIJOS SĄNAUDŲ PRIKLAUSOMYBĖS NUO SKIRTINGŲ EISENŲ IR GREIČIO JUDANT LYGIU PAVIRŠIUMI TYRIMAS

2014 ◽  
Vol 6 (2) ◽  
pp. 194-197
Author(s):  
Mindaugas Luneckas ◽  
Tomas Luneckas
Keyword(s):  
Energy Consumption ◽  
Lower Energy ◽  
Rough Terrain ◽  
Walking Robot ◽  
Slow Speed ◽  
Tripod Gait ◽  
Least Energy ◽  
Selection Of

Evaluation of robotic energetics while moving on rough terrain becomes a difficult task without having the information about the movement on even terrain. The problem appears in selection of gaits depending on how much power robot consumes. In this paper, energy consumption of a hexapod walking robot dependence on different gaits and speed is observed. Three most common gaits were used in this experiment: tripod gait, bipod gait and wave gait. Results clearly show that while moving at slow speed, the least energy is consumed by wave gait. As the speed increases, bipod gait selection is required to lower energy consumption. Finally, tripod gait must be selected at even higher speed. Nežinant šešiakojo vaikščiojančio roboto energijos sąnaudų judant lygiu paviršiumi, yra sudėtinga įvertinti sąnaudas judant nelygiu paviršiumi bei parinkti taupiausią eiseną ir judėjimo greitį. Darbo tikslas yra išmatuoti suvartojamą energijos kiekį judant skirtingomis eisenomis ir parinkti greičius, kai tikslinga keisti eiseną. Tiriamos trys pagrindinės šešiakojų robotų eisenos: trikojė, dvikojė ir banguojanti. Rezultatai akivaizdžiai rodo, kad, esant mažiems greičiams, mažiausiai energijos robotas suvartoja judėdamas banguojančia eisena. Didėjant greičiui, mažiau energijos suvartojama judant dvikoje eisena, o dar padidėjus – judant trikoje eisena.

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