Study on Roller-Walker ï¿1⁄2 Energy Efficiency of Roller-Walk ï¿1⁄2
نویسنده
چکیده
Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on rough terrain. This paper discusses energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion and discuss the relationships between the parameters of the leg trajectory and energy efficiency of the propulsion using numerical simulator. We find optimum parameter sets where optimization criteria is specific resistance. Then we carried out hardware experiments and empirically derived experimental specific resistance. We show that wheeled locomotion has 8 times higher energy efficiency than ordinary crawl gait. Finally we compare the specific resistance of RollerWalker with other walking robots described in the literatures.
منابع مشابه
Study on Roller-Walker - Improvement of Locomotive Efficiency of Quadruped Robots by Passive Wheels
Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating the ankle roll joint when Roller-Walker walks on a rough terrain. This paper discusses energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion and discuss the relationshi...
متن کاملPLC-Statecharts: An Approach to Integrate UML-Statecharts in Open-Loop Control Engineering ï¿1⁄2 Aspects on Behavioral Semantics and Model-Checking
This paper presents the core concepts for PLC-statecharts an adaptation of UML-statecharts which can be used as a visual programming language for PLCs. They combine the advantages of UMLstatecharts with a strict formal basis and can be transparently used in the context of IEC 61131-3 (3 Edition). The defined formal behavioral semantics sets the basis for an automatic transformation of PLC-state...
متن کاملEfficiency-Risk Tradeoffs in Dynamic Oligopoly Markets ï¿1⁄2 with Application to Electricity Markets
In this paper, we examine in an abstract framework, how a tradeoff between efficiency and risk arises in different dynamic oligopolistic market architectures. We consider a market in which there is a monopolistic resource provider and agents that enter and exit the market following a random process. Self-interested and fully rational agents dynamically update their resource consumption decision...
متن کاملInvestigating the Effect of natural Pozzolans on Mechanical Properties of Roller Compacted Concrete
Roller Compacted Concrete (RCC), is a concrete with zero slump, which is used in damming and road pavement. Roller Compacted Concrete Pavement (RCCP) bear heavy traffic loads and severe weather conditions. This type of concrete is due to its economic and environmental capabilities, including reduced construction and maintenance costs, longer durability and longer lifetime, as well as environmen...
متن کامل