Energy consumption analysis in multi-legged robots based on gait planning

Xiaolong Du, Shoukun Wang, Xiaoyan Zong, Junzheng Wang

科研成果: 书/报告/会议事项章节会议稿件同行评审

4 引用 (Scopus)

摘要

Currently, the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of robots. Aimed at the problem of energy consumption for mobile robots, this paper provides the analysis in terms of the gait planning. Firstly, two kinds of gait curves Respectively, cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction (SLR). The length of step (S), the height of step (H) and the duty ratio of gait cycle (β) are set as the primary research points about the gait of mobile robot. In this work, we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait parameters. Finally, the results provide some recommendations for the gait planning of the quadruped robot, that is, the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

源语言英语
主期刊名Proceedings of the 35th Chinese Control Conference, CCC 2016
编辑Jie Chen, Qianchuan Zhao, Jie Chen
出版商IEEE Computer Society
6183-6188
页数6
ISBN(电子版)9789881563910
DOI
出版状态已出版 - 26 8月 2016
活动35th Chinese Control Conference, CCC 2016 - Chengdu, 中国
期限: 27 7月 201629 7月 2016

出版系列

姓名Chinese Control Conference, CCC
2016-August
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议35th Chinese Control Conference, CCC 2016
国家/地区中国
Chengdu
时期27/07/1629/07/16

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