Real-time-based control system for a group of autonomous walking robots

Zielińska, Teresa; Heng, John

doi:10.1163/156855306776985568

Cited by 6 publications

(17 citation statements)

References 16 publications

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“…Such design was successfully applied in the family of walking machines (Fig. 1) developed by our team, starting from the small size and light quadrupeds: 15 cm height and 2 kg mass, and ending with hexapods for exploration [29]: 60 cm height and 40 kg mass with a payload 40 kG. As it is illustrated, the legs can be easily adjusted to different postures.…”

Section: Decreasing Energy Demand In the Transfer Phasementioning

confidence: 99%

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Minimizing Energy Cost in Multi-Legged Walking Machines

Zielińska

2016

J Intell Robot Syst

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Due to their ability to avoid obstacles and to move over difficult terrain, moreover having the ability to adjust their posture, walking machines for many years have been considered as very promising devices for inspection, exploration and surveyance tasks, however still they have not been widely applied. One of the main limitations is the power supply. Six legged walking machines are robust from the point of view of their walking stability in difficult terrain, but their actuators (18 if each leg has active 3 DOF's) adds to their weight what increases the energy consumption. The higher energy consumption requires more efficient batteries, but usually those are heavier, what again increases the energy demand. Therefore at the design stage a detailed analysis is required of how to decrease the energy consumption. This paper studies energy consumption considering the tripod gait of hexapods. The method used for energy evaluation is presented and the results are discussed. The discussion of energy saving both for the leg transfer phase and during the support phase, which is the most demanding phase, is presented. The energy consumption is expressed in the normalized form, depending on the normalized leg proportions, body height and step length. The straight line forward/backward and side walking are analyzed. The aim of the studies is to provide to the designers the information about favorable leg proportions taking into account the reduction of required energy and to provide the information which leg posture should be selected.

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Section: Decreasing Energy Demand In the Transfer Phasementioning

confidence: 99%

“…They are the emerging kind of professional robots. Unfortunately, despite of the work devoted to walking machines for search [29] and demining [5], many publications in the field of walking machines concerns the devices for laboratory research. The problem of energy savings is not treated there so often.…”

Section: Introductionmentioning

confidence: 99%

Minimizing Energy Cost in Multi-Legged Walking Machines

Zielińska

2016

J Intell Robot Syst

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“…We will be considering machines intended for use in exploration and rescue tasks (Fig.1) developed by our team [16]. The legs are modular and can be attached to different trunks.…”

Section: Basic Relationsmentioning

confidence: 99%

“…There are the emerging kind of professional robots. Unfortunately, despite of the works devoted to walking machines for search [16] and demining [4], many publications in the field of walking machines concerns the devices for laboratory research. The problem of energy savings is there not so often the focus of attention.…”

Section: Introductionmentioning

confidence: 99%

Walking machines for exploration - optimizing the energy spendings

Zielińska

2015

2015 10th International Workshop on Robot Motion and Control (RoMoCo)

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The studies of energy consumption during tripod gait of six-legged walking machines are presented. The method used for energy evaluation is outlined and the results are presented. The energy consumption during support phase, which is the most demanding phase, is analyzed. The energy consumption is expressed in the normalized form, depending on the normalized leg proportions, body height and step length. The aim of the studies is to deliver the designers the information about favorable leg proportions from the point of view of energy consumption and to illustrate how the leg posture influences the energy demand.

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“…12. Control system was successfully implemented in the group of autonomous walking machines GROVEN [10] - Fig. 13.…”

Section: Control Systemmentioning

confidence: 99%

Autonomous walking machines - discussion of the prototyping problems

Zielińska¹

2010

Bulletin of the Polish Academy of Sciences: Technical Sciences

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Abstract. An improvement of the computer technology caused the progress in building of the developed machines, indispensable in some works which are too dangerous or onerous for humans. The article deals with prototyping problems in constructing autonomous walking machines including design problems, evaluation of required motor power, evaluation of expecting walking velocity as well as the control system design considerations etc., presenting themselves as key factors which must be taken into account while walking robots prototyping.

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Real-time-based control system for a group of autonomous walking robots

Cited by 6 publications

References 16 publications

Minimizing Energy Cost in Multi-Legged Walking Machines

Minimizing Energy Cost in Multi-Legged Walking Machines

Walking machines for exploration - optimizing the energy spendings

Autonomous walking machines - discussion of the prototyping problems

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