Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption

Sha Sheng; Shaopeng Pan; Jianzhong Wang; Jiadong Shi

doi:10.1109/MEC.2013.6885166

Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption

Sha Sheng
, Shaopeng Pan
, Jianzhong Wang
, Jiadong Shi

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

The system mechanical properties play an important role in dynamic quadrupedal robot control reseach. This paper describes a new coupled drive leg for quadrupedal robot. Numerical studies have been done to investigate the mechanical power and energy of the coupled drive leg and direct drive leg in the same control algorithms. When the robot is walking at speed of 0.13m/s, the robot of the coupling legs than the direct drive in the unit time saving energy ratio η = 15. 24%, while at a speed of 0.19m/s, η = 22. 59%. The results show that the coupled leg design has higher efficiency.

Original language	English
Title of host publication	Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	784-787
Number of pages	4
ISBN (Electronic)	9781479925650
DOIs	https://doi.org/10.1109/MEC.2013.6885166
Publication status	Published - 2013
Event	2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013 - Shenyang, China Duration: 20 Dec 2013 → 22 Dec 2013

Publication series

Name	Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013

Conference

Conference	2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013
Country/Territory	China
City	Shenyang
Period	20/12/13 → 22/12/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Energy consumption
Legged mechanism
Quadrupedal robot
Simulation

Access to Document

10.1109/MEC.2013.6885166

Cite this

Sheng, S., Pan, S., Wang, J., & Shi, J. (2013). Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption. In Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013 (pp. 784-787). Article 6885166 (Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MEC.2013.6885166

Sheng, Sha ; Pan, Shaopeng ; Wang, Jianzhong et al. / Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption. Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. pp. 784-787 (Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013).

@inproceedings{5c1ab69cc5da4ec9bd5d6b70218bc447,

title = "Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption",

abstract = "The system mechanical properties play an important role in dynamic quadrupedal robot control reseach. This paper describes a new coupled drive leg for quadrupedal robot. Numerical studies have been done to investigate the mechanical power and energy of the coupled drive leg and direct drive leg in the same control algorithms. When the robot is walking at speed of 0.13m/s, the robot of the coupling legs than the direct drive in the unit time saving energy ratio η = 15. 24\%, while at a speed of 0.19m/s, η = 22. 59\%. The results show that the coupled leg design has higher efficiency.",

keywords = "Energy consumption, Legged mechanism, Quadrupedal robot, Simulation",

author = "Sha Sheng and Shaopeng Pan and Jianzhong Wang and Jiadong Shi",

note = "Publisher Copyright: {\textcopyright} 2013 IEEE.; 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013 ; Conference date: 20-12-2013 Through 22-12-2013",

year = "2013",

doi = "10.1109/MEC.2013.6885166",

language = "English",

series = "Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "784--787",

booktitle = "Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013",

address = "United States",

}

Sheng, S, Pan, S, Wang, J & Shi, J 2013, Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption. in Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013., 6885166, Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013, Institute of Electrical and Electronics Engineers Inc., pp. 784-787, 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013, Shenyang, China, 20/12/13. https://doi.org/10.1109/MEC.2013.6885166

Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption. / Sheng, Sha; Pan, Shaopeng; Wang, Jianzhong et al.
Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 784-787 6885166 (Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption

AU - Sheng, Sha

AU - Pan, Shaopeng

AU - Wang, Jianzhong

AU - Shi, Jiadong

PY - 2013

Y1 - 2013

N2 - The system mechanical properties play an important role in dynamic quadrupedal robot control reseach. This paper describes a new coupled drive leg for quadrupedal robot. Numerical studies have been done to investigate the mechanical power and energy of the coupled drive leg and direct drive leg in the same control algorithms. When the robot is walking at speed of 0.13m/s, the robot of the coupling legs than the direct drive in the unit time saving energy ratio η = 15. 24%, while at a speed of 0.19m/s, η = 22. 59%. The results show that the coupled leg design has higher efficiency.

AB - The system mechanical properties play an important role in dynamic quadrupedal robot control reseach. This paper describes a new coupled drive leg for quadrupedal robot. Numerical studies have been done to investigate the mechanical power and energy of the coupled drive leg and direct drive leg in the same control algorithms. When the robot is walking at speed of 0.13m/s, the robot of the coupling legs than the direct drive in the unit time saving energy ratio η = 15. 24%, while at a speed of 0.19m/s, η = 22. 59%. The results show that the coupled leg design has higher efficiency.

KW - Energy consumption

KW - Legged mechanism

KW - Quadrupedal robot

KW - Simulation

UR - https://www.scopus.com/pages/publications/84918582622

U2 - 10.1109/MEC.2013.6885166

DO - 10.1109/MEC.2013.6885166

M3 - Conference contribution

AN - SCOPUS:84918582622

T3 - Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013

SP - 784

EP - 787

BT - Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013

Y2 - 20 December 2013 through 22 December 2013

ER -

Sheng S, Pan S, Wang J, Shi J. Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption. In Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013. Institute of Electrical and Electronics Engineers Inc. 2013. p. 784-787. 6885166. (Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013). doi: 10.1109/MEC.2013.6885166

Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption

Abstract

Publication series

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UN SDGs

Keywords

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