Mobility of Legged Robot Locomotion with Elastically-suspended Loads over Rough Terrain
نویسندگان
چکیده
Elastically-suspended loads can reduce the energetic cost of legged robot locomotion over flat ground. In this paper, we studied the effect of elastically-suspended loads on the mobility of legged robot locomotion over rough terrain. The power input and speed of a simple hexapod robot running over rough terrain with an elastically-suspended load and a rigidly-attached load was compared. On average, the robot ran 16% faster and consumed 8.9% less power while carrying an elastically-suspended load versus a rigidly-attached load over rough terrain. Therefore, the experiments suggest that elastically-suspended loads may increase the mobility of legged robot locomotion over rough terrain.
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