Building an energetic model to evaluate and optimize power consumption in walking robots

Guardabrazo, Tomás; Santos, P. González de

doi:10.1108/01439910410522874

Cited by 12 publications

(8 citation statements)

References 9 publications

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“…These models are latter applied for analysing the influence of the leg configuration, of the body weight, of the foot trajectory and of the speed profile on the energy consumption of the SILO4 quadruped robot. More recently, Guardabrazo and de Santos (2004) apply an identical methodology to a biped robot.…”

Section: Optimization Of Power/energy Based Indicesmentioning

confidence: 99%

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A literature review on the optimization of legged robots

Silva

Machado

2011

Journal of Vibration and Control

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Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged systems present major advantages when compared with 'traditional' vehicles, because they allow locomotion in inaccessible terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes.

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Section: Optimization Of Power/energy Based Indicesmentioning

confidence: 99%

“…More recently, Guardabrazo and de Santos (2004) apply an identical methodology to a biped robot. Gregorio et al (1997) considered the maximum torque needed for the hip motor of a monopod robot as a way to design the transmission parameters of this joint.…”

Section: As a Function Of The Travelling Velocity Vfmentioning

confidence: 99%

A literature review on the optimization of legged robots

Silva

Machado

2011

Journal of Vibration and Control

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“…Gonzalez de Santos et al (2009) proposed the energy minimization model of hexapod robot. Guardabrazo and Gonzalez de Santos (2004) established an energy consumption model of a crawling robot and optimized it.…”

Section: Introductionmentioning

confidence: 99%

Deviation from the direction of motion across gaits in a hexapodal robot

Niu

Zhan²,

Cui

2020

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Purpose The purpose of this study is to test a chassis robot on rugged road cargo handling. Design/methodology/approach Attitude solution of D-H series robot gyroscope speed and acceleration sensor. Findings In identical experimental environments, hexapodal robots experience smaller deviations when using a four-footed propulsive gait from a typical three-footed gait for forward motion; for the same distance but at different speeds, the deviation basically keeps itself within the same range when the robot advances forward with four-foot propulsive gait; because the foot slide in the three-footed gait sometimes experiences frictions, the robot exhibits a large gap in directional deviations in different courses during motion; for motion using a four-footed propulsive gait, there are minor directional deviations of hexapodal robots resulting from experimental errors, which can be reduced through optimizing mechanical structures. Originality/value Planning different gaits can solve problems existing in some typical gaits. This article has put forward a gait planning method for hexapodal robots moving forward with diverse gaits as a redundant multifreedom structure. Subsequent research can combine a multiparallel-legged structure to analyze kinematics, optimize the robot’s mechanical structure and carry out in-depth research of hexapod robot gaits.

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“…For the training and education of the mobile robots, many countries hold Robotics Competitions such as World Skills -Mobile Robotics, IEEE International Robot Hands on Competition and Symposium, and RoboCup as shown in figure. 1 For a competition mobile robot, power and energy consumption are always the key factors in the competition. The power and energy consumption of a competition mobile robot play important roles in deciding the results of performance identification in a mobile robot competition.…”

Section: Introductionmentioning

confidence: 99%

Measurement of power and energy consumption of a competition-mobile-robot

et al. 2017

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Abstract. Power and energy consumption are the two most important factors for successful operation; they also play important roles in performance identification.The measurement of power and energy consumption is a common test in the development process of a competition mobile robot. If the power of a competition mobile robot is not sufficient, the running time in the competition will be too long and winning the competition will not be possible. Thus, the power and energy consumption are basic and important measurement parameters for a competition mobile robot. In this paper, five types of hand-made competition mobile robots are successfully developed and their performances are measured. From the measurements, their powers and energy consumptions are evaluated and analyzed, respectively. The test results show large differences in the powers and energy consumptions of the five models, even though the same motors were used. The design and construction of the competition mobile robot are the key parameters that cause these huge differences. It is possible to develop the measurement techniques for power and energy consumption, quickly and precisely, to determine how to modify a competition mobile robot rapidly and efficiently to a condition optimal for a mobile robot competition.

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Building an energetic model to evaluate and optimize power consumption in walking robots

Cited by 12 publications

References 9 publications

A literature review on the optimization of legged robots

A literature review on the optimization of legged robots

Deviation from the direction of motion across gaits in a hexapodal robot

Measurement of power and energy consumption of a competition-mobile-robot

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