Energy Consumption Analysis of Quadruped Robot with Trot Gait

Abstract:

Energy consumption is one of the important evaluating indicators for walking robots. In this paper, the kinematics modeling of quadruped robot with trot gait was analyzed firstly. And then the dynamics modeling was analyzed, which considering periodic contact force between foots and ground during walking, and considering the elastic elements. Finally, the total energy consumption of walking robot during whole gait cycle was derived based on the dynamic model. The specific resistance was proposed to evaluate energy efficiency of quadruped robot with trot gait, and the relationship between specific resistance and gait parameters was presented, which will be used to analyze the energy efficiency and influencing factors, and then determine the reasonable gait parameters.

• Periodical: Applied Mechanics and Materials (Volumes 271-272)
• Pages: 1531-1535
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.271-272.1531
• Online since: December 2012
• Authors: Jing Tao Lei, Feng Wang
• Keywords: Dynamic Modeling, Energy Efficiency, Quadruped Robot, Trot Gait

References

[1] Tomoyuki, T.; Azuma, Y.; Shibata, T. Acquisition of energy-efficient bipedal walking using CPG-based reinforcement learning. IEEE/RSJ International Conference on Intelligent Robots and Systems. October 11-15, St. Louis. USA. 2009, Page(s): 827-832.

DOI: 10.1109/iros.2009.5354745

[2] Reza Ghorbani, Qiong Wu. Adjustable stiffness artificial tendons: Conceptual design and energetics study in bipedal walking robots. Mechanism and Machine Theory. Vol. 44, Issue 1, January 2009, Pages: 140-161.

DOI: 10.1016/j.mechmachtheory.2008.02.009

[3] Roy, S.S.; Pratihar, D.K. Dynamic modeling and energy consumption analysis of crab walking of a six-legged robot. IEEE Conference on Technologies for Practical Robot Applications. 2011, Page(s): 82-87.

DOI: 10.1109/tepra.2011.5753486

[4] Shibendu Shekhar Roy, Dilip Kumar Pratihar. Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot. Robotics and Autonomous Systems. Vol. 60, Issue 1, January 2012, Pages: 72-82.

DOI: 10.1016/j.robot.2011.08.013

[5] M.F. Silva, J.A.T. Machado, A. M. Lopes . Performance analysis of multi-legged systems. IEEE international conference on robotics & automation, 2002: 2234-2239.

DOI: 10.1109/robot.2002.1013564

[6] M.F. Silva, J. A. T. Machado. Energy Efficiency of Quadruped Gaits. Climbing and Walking Robots. Part 12, 2006, Pages 735-742.

DOI: 10.1007/3-540-26415-9_88

[7] R. Kurazume,K. Yoneda,S. Hirose. 3D sway compensation trajectory for quadruped walking robot. Japan Robotic Institute Journal. 2001, 19(5): 632-637.

DOI: 10.7210/jrsj.19.632

[8] R. Kurazume, A. Byong-won, K. Ohta. Experimental study on energy efficiency for quadruped walking vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems. 2003: 613-618.

DOI: 10.1109/iros.2003.1250697

[9] Luping Luo, Kyoosik Shin, Changsoo Han. An energy saving power assist manipulator with mechanical elastic elements. International Conference on Mechanical and Electrical Technology, 3rd, 2011, Vol. 1-3.

DOI: 10.1115/1.859810.paper373

[10] Hyun K Kim, Woong Kwon, Kyung Shik Roh. Biologically Inspired Energy Efficient Walking for Biped Robots. IEEE International Conference on Robotics and Biomimetics. Kunming, China. 2006, Page(s): 630-635.

DOI: 10.1109/robio.2006.340273