Performance analysis of multi-legged systems

Silva, M.F.; Machado, J. A. Tenreiro; Lopes, António M.

doi:10.1109/robot.2002.1013564

Cited by 10 publications

(7 citation statements)

References 15 publications

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“…Currently, there are already a number of full-scale samples of walking machines and robots suitable for real transport and technological operations in conditions of weak-bearing soil. They can be divided into the following 4 main types [6][7][8][9]: walking machines with adaptive propulsors, walking machines with cyclic type propulsors, wheeled walking machines, as well as walking swamp vehicles using a "pontoon move".…”

Section: Methodsmentioning

confidence: 99%

Walking machines for operation on non-cohesive and water-saturated soils

Kalinin,

Chernyshev,

Vetlitsyn

et al. 2024

E3S Web Conf.

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The widespread use of wheeled and tracked vehicles in forestry and agriculture is one of the reasons for compaction and subsequent soil degradation. At the same time, it is known that walking machines destroy the upper ecologically vulnerable soil layer to a lesser extent. The main types of existing walking machines that can work on weak-bearing soils are considered. It has been shown that walking movers of the cyclic type are characterized by the greatest simplicity and reliability. A prototype of a multi-purpose walking chassis (weighing about 200 kg) with cyclic propulsors has been developed. A number of technical solutions have been proposed aimed at increasing its adaptability, profile cross-country ability and maneuverability. The walking chassis prototype was tested in real terrain. Tests have confirmed its high cross-country ability and excellent traction and traction properties. In terms of the ecology of the contact effect on the soil, the walking machine is also superior to its analogues with traditional types of propulsors. The results of the work may be in demand when developing walking machines and robots for new soil-saving technologies in forestry and agriculture.

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Section: Methodsmentioning

confidence: 99%

Walking machines for operation on non-cohesive and water-saturated soils

Kalinin,

Chernyshev,

Vetlitsyn

et al. 2024

E3S Web Conf.

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“…The large-load-ratio six-legged robot can walk with the different gait. Then, the power consumption of robot mobile system under the body coordinate system can be acquired when the foot forces of the support phase among the equations from (29) to (34) are simultaneously brought into Equation (20).…”

Section: Power Consumption Model Of Robot Mobile Systemmentioning

confidence: 99%

“…Hence, the simplified power consumption model of robot mobile system can be written when the robot walks from the initial attitudes under the mixed-type II or ant-type tripod gait, the initial attitudes of abductor joints are △θ 1 =△θ 3 =△θ 4 =△θ 6 =60º and △θ 2 =△θ 5 =0º, and the legs 2, 4, and 6 are in the support phase. Then The tangential force 30), (32), and (34). The mathematical expressions the foot forces can be obtained for the legs 2, 4, and 6.…”

Section: Simplified Model Of Power Consumption Of Robot Mobile Systemmentioning

confidence: 99%

“…Lin and Song [33] analyzed the relation between walking speeds and power consumption of system for a pantograph quadruped robot. Silva et al [34] and Jin et al [35] discussed the connections between gait parameters of a mammal like six-legged robot and its power consumption. Marhefka and Orin [36] measured the energy dissipation rate with changes in the velocity and duty factor for a pantograph six-legged robot.…”

Section: Introductionmentioning

confidence: 99%

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Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

Zhuang

Wang

Gao

et al. 2023

Chin. J. Mech. Eng.

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The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration. However, due to the particularity of its parallel structure, the effective utilization rate of energy is not high, which has become an important obstacle to its practical application. To research the power consumption characteristics of robot mobile system is beneficial to speed up it toward practicability. Based on the configuration and walking modes of robot, the mathematical model of the power consumption of mobile system is set up. In view of the tripod gait is often selected for the six-legged robots, the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot's statically indeterminate problem and constructing the equal force distribution. Then, the power consumption of robot mobile system is solved under different working conditions. The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint, body height, and span. The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption. According to the walking experiments of prototype, the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio, body height, and span. Then, the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system. The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

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“…Stability criteria such as the zero-moment-point have been used to design optimal walking gaits [15]. Dynamic gaiting and bounding also have been demonstrated [16][17][18]. Recent work [19,20] has attempted to provide unifying mathematical tools for gait generation.…”

Section: Related Workmentioning

confidence: 99%