Low Impact Force and Energy Consumption Motion Planning for Hexapod Robot with Passive Compliant Ankles View Full Text


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Article Info

DATE

2019-05

AUTHORS

Haibo Gao, Yufei Liu, Liang Ding, Guangjun Liu, Zongquan Deng, Yiqun Liu, Haitao Yu

ABSTRACT

Motion planning plays an important role in the performance optimization of legged robots. This paper presents a method to minimize the impact force and energy consumption effectively by providing an integrated strategy of motion planning subject to velocity and acceleration constraints. The parameters defined for the motion planning are computed to generate the foot trajectory. A foot–terrain interaction model and an energy-consumption model are formulated to evaluate the contact force and power consumption for statically stable gaits. The proposed method has been implemented on a hexapod robot. The acceleration of foot landing is reduced, and constant velocity control of the trunk body with passive compliant ankles is achieved for reducing the impact force and energy consumption. Extensive experiments have been carried out, and the experimental results have demonstrated the effectiveness of the proposed method in comparison with a conventional method. More... »

PAGES

1-22

References to SciGraph publications

  • 2015-10. Motion planning and simulation verification of a hydraulic hexapod robot based on reducing energy/flow consumption in JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
  • 2000-10. Legged insects select the optimal locomotor pattern based on the energetic cost in BIOLOGICAL CYBERNETICS
  • 2013-08. Power Consumption Optimization for a Hexapod Walking Robot in JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • 2016. Springer Handbook of Robotics in NONE
  • 2014-02. A review of heavy-duty legged robots in SCIENCE CHINA TECHNOLOGICAL SCIENCES
  • 2014-06. Kinematics, Dynamics and Power Consumption Analyses for Turning Motion of a Six-Legged Robot in JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • 2013-07. Method for analyzing articulated torques of heavy-duty six-legged robot in CHINESE JOURNAL OF MECHANICAL ENGINEERING
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    http://scigraph.springernature.com/pub.10.1007/s10846-018-0828-2

    DOI

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