Energy Consumption of Bio-Inspired Legged Walking Robot

Abstract:

Terrestrial vertebrates can walk more elegant than any other man-made legged mechanical models, which yield unstable locomotion with low speed. They continuously have modified their body structure and living patterns for the survival. They still continue their development. Legs are basically a serial linkage of rigid bodies connected by joints and exactly correspond to the manipulator in robot. Structure of living creatures are copied and modeled with 12 links, 12 joints and body, from the mechanical engineering viewpoint. Iterative Newton-Euler method is applied to compute torques acting all joints, which are required to calculate the total consumed energy to complete one locomotion cycle. Mechanical energy efficiency of different variables or systems are evaluated and compared by specific resistance. Parameters, specifying structure and locomotion, are applied to the simulation and the optimal values which minimize energy expenditure in locomotion are derived.

• Periodical: Applied Mechanics and Materials (Volume 872)
• Pages: 321-325
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.872.321
• Online since: October 2017
• Authors: Sung Ho Park*
• Keywords: Bio-System, Energy Efficiency, Quadruped, Reaction Force, Simulation, Terrestrial Vertebrates, Torque, Total Energy

References

[1] M. G. Bekker, Introduction to Terrain Vehicle Systems, University of Michigan Press, Ann Arbor, (1969).

[2] R. M. Alexander and A. S. Jay, Estimates of Energy Cost for Quadrupedal Running Gaits, J. Zoology, 190(2) (1980) 155-192.

DOI: 10.1111/j.1469-7998.1980.tb07765.x

[3] V. B. Sukhanov, General System of Symmetrical Locomotion of Terrestrial Vertebrates and Some Features of Movement of Lower Tertapods, Acad. Sci. USSR, 10-11 (1968) 75.

[4] T. M. Giffin, R. Kram, S. J. Wickler, and D. F. Hoyt, Biomechanical and energetic determinants, of the walk-trot transition in horses, J. Exp. Biol. 207 (2004) 4215-4223.

DOI: 10.1242/jeb.01277

[5] E. F. Fisher and B. L. Fisher, A Survey of Legs of Insects and Spiders, IEEE J. Robot. Autom. 2 (1988) 984-986.

[6] F. Pfeiffer, H. J. Weidemann, and P. Danowski, Dynamics of the Walking Stick Insect, IEEE J. Robot. Autom. 3 (1990) 1458-1463.

[7] R. D. McGhee and G. I. Iswandhi, Adaptive Locomotion of a Multi-Legged Robot over Rough Terrain, IEEE Trans. Syst. Man. Cybernet. SMC-9(4) (1979) 176-182.

DOI: 10.1109/tsmc.1979.4310180

[8] S. M. Song, Dynamic Modeling, Stability Analysis and Energy Efficiency of a Quadrupedal Walking Machine, IEEE Int. Conf. Robot. Autom. (1979), pp.367-373.

[9] C. D. Zhang and S. M. Song, Stability Analysis of a Wave Crab Gaits of a Quadruped, J. Robot. Syst. 7(2) (1990) 243-276.

DOI: 10.1002/rob.4620070208

[10] M. S. Fisher, Walking, Climbing and Reaching: News on Kinematics and Dynamics and Questions about the Level of Control, 4'th Int'l Sym. on Adaptive Motion of Animals and Machines, CWRU, Cleveland, Ohio, June 1-6, (2008).

[11] T. M. Giffin, R. Kram, S. J. Wickler, and D. F. Hoyt, Biomechanical and energetic determinants, of the walk-trot transition in horses, J. Exp. Biol. 207 (2004) 4215-4223.

DOI: 10.1242/jeb.01277

[12] W. M. Silver, On the Equivalence of the Lagrangian and Newton-Euler Dynamics for the manipulators, Int. J. Robot. Res. 1(2) (1982) 60-70.

[13] D. E. Orin, R. B. McGhee, M. Vukobratovic and G. Hartoch, Kinematic and Kinetic Analysis of open-chain linkages utilizing Newton-Euler Methods, Math. Biosci. 43 (1979) 107-130.

DOI: 10.1016/0025-5564(79)90104-4

[14] J. Y. S, Luh, M. W. Walker and R. P. Paul, On-line computational scheme for mechanical manipulators, ASME J. Dyn. Syst. Measure. Contr. 120 (1980) 69-76.

[15] G. Gabrielli and, T. von Karman, What price speed specific power required for propulsion of vehicles, Mech. Eng. 72(10) (1950) 775-781.