The Energy Consumption Analysis of Four-Legged Walking Robot by Using Different Motion Laws

Xiao Hui Zhang; Xin Jie Wang; Liang Wen Wang; Wei Hong Chen

doi:10.4028/www.scientific.net/AMM.220-223.1212

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 220-223The Energy Consumption Analysis of Four-Legged...

The Energy Consumption Analysis of Four-Legged Walking Robot by Using Different Motion Laws

Abstract:

In this paper, controlling the motion of mass center of robot by different motion laws is discussed to reduce motor’s drive power of robot joint. Firstly, correlation theory is described; obtain that if the (AV) value of motion parameter of robot’ mass center is smaller; the torque of drive motor which needs to drive robot is smaller under the same conditions. Then, in the process of robot ZQROT-I running the straight gait, two typical motion laws are used to control mass motion of robot; motion performance of the robot is analyzed with Adams. Analysis result indicates that control mass motion of robot by the use of motion laws with small (AV) value has certain effect in saving working energy of robot.

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Periodical:

Applied Mechanics and Materials (Volumes 220-223)

Pages:

1212-1216

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.220-223.1212

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Online since:

November 2012

Authors:

Xiao Hui Zhang, Xin Jie Wang, Liang Wen Wang, Wei Hong Chen

Keywords:

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

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References

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