Study on Energy Consumption in Turning Motion of Hexapod Walking Robots
نویسنده
چکیده
This paper presents an analysis on energy consumption and energy efficiency of a hexapod robot during its turning motion over flat terrain. The energy consumption model has been derived for statically stable wave-turning gaits by considering a minimization of dissipating energy for optimal foot force distribution. Two approaches, such as minimization of norm of feet forces and minimization of norm of joint torques have been developed. The variations of average power consumption and energy consumption per weight per traveled length with angular velocity and angular stroke have been studied for turning motion with tripod and tetrapod gait patterns. Tetrapod gaits are found to be more energy-efficient than the tripod gaits.
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