Computation of walking robots movement energy expenditure

Abstract

The methods ofthe energetics of the multifeet walking transportation machines with independent carrying drives, adaptation drives, and turn drives have been created. They were compared with power expenditures of wheeled and caterpillar machines. The problem of delivery optimisation of efforts upon the support feet at minimum ground deformation has been solved. The specifications of the machine direct and curved movement have been received. The results of computation are presented.turn, angles of ascend and descend, the side stability angle) should be much higher than the traditional transportation machines have.The movement speed off a walking machine is much lower than the wheeled machines possess and it is limited to 10 km per hour [3]. Higher speed seems to be of no need if to take walking robots application areas into consideration. In case the walking robot solves the problem, say, moving with the speed of 5 km/h in conditions under which wheeled and caterpillar-based machines might reach the criterium total practicability level (their movement speed is equal to zero), it is quite clear that their economical necessity in real conditions of movement is of no doubt. The main functional parts of a walking transportation machine of a large weight capacity are the mechanism system (the machine body, the walking mechanisms), moving engines, and a twoleveled control of motion system. It is a basic feature of walking transportation machines of large weighing ca-

Kinematic and dynamic performance analysis of artificial legged systems

“…Marhefka and Orin (1997) simulate a hexapod robot to study how the locomotion parameters affect the energy consumption. Zhoga (1998) analyzes the energy consumption of an eight-legged system, deducing the equations for its energy consumption from the dynamic model, and compares it with the energy consumptions of machines with equivalent dimensions, but using wheels and tracks. Finally, Briskin et al (2003) adopted the energy consumption computed from the dynamic model for the optimization and performance analysis of the walking chassis for multipurposes robot.…”

The Control System of the Eight-Legged Mobile Walking Robot

“…Among the many types of robots one can distinguish autonomous mobile robotic system, the hallmark of which is the ability to move in space. The primary function of mobile robots is their using in the course of intelligence operations in a non-deterministic environments, inaccessible or dangerous to humans: in places of technogenic catastrophes, during the demolition debris, in places with increased radiation background, during the mine clearance [1,2]. One of directions of robotics development is a use of robots in technological processes of agricultural production.…”

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

“…However, these are too simple to model the complete leg dynamics, for which it is necessary to predict the torques applied to the actuators. Silva et al (2001), Zelinska (2000) and Zhoga (1998) considered leg dynamics and torques but they did not consider the type of joint actuators, which has a decisive contribution to energy consumption. Geometric work is also an important factor at the design stage (Raby and Orin, 1999; Song et al , 1984).…”