The Research about Energy Consumption and Using Motion Function of Mass Center for Four-Legged Walking Robot

Xin Jie Wang; Liang Wen Wang; An Sheng Li; Chuan Peng Wang

doi:10.4028/www.scientific.net/AMM.163.176

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 163The Research about Energy Consumption and Using...

The Research about Energy Consumption and Using Motion Function of Mass Center for Four-Legged Walking Robot

Abstract:

In order to reducing motors energy consumption, the problem about motion function, which has torque feature (AV) m small, is discussed in this paper. Conventional functions and small torque moment function are used to control mass center motion of robot ZQROT-I respectively. In the process of robot running the straight gait , motion performance of the robot is analyzed by ADAMS. Analysis result indicates that function controlling mass motion of robot with small torque feature has significant meaning for saving working energy of robot.

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Periodical:

Applied Mechanics and Materials (Volume 163)

Pages:

176-179

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.163.176

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Online since:

April 2012

Authors:

Xin Jie Wang, Liang Wen Wang, An Sheng Li, Chuan Peng Wang

Keywords:

Energy Consumption (EC), Four-Legged Walking Robot, Movement Simulation, Trajectory Planning

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