Inverse Dynamics and Power Consumption Model of Crab Motion of a Realistic Hexapod Robot

Abstract

Abstract-The present paper deals with a detail inverse dynamics and power consumption of a realistic hexapod robot with crab motion. The prescribed motion parameters necessary for the inverse dynamic analysis like displacement, velocity, acceleration of the joints are obtained from the kinematic analysis and motion planning of the hexapod robot. The foot ground interaction is considered as a point contact with zero impact velocity. The solution to the problem is not unique due to a highly redundant robotic system. An energy consumption model has been derived for statically stable wave-crab gaits after considering a minimum of the instantaneous power consumption of the robotic system for optimum feet forces. Minimum of power consumption is considered as the objective function with respect to linear equality and inequality constraints. The simulated results and discussions of the inverse dynamic analysis of the robotic system with crab motion on regular terrain are discussed.