Optimal Locomotive Parameters of Four-Legged Bio-Robot by Minimizing Energy Consumption

Abstract:

Four-Legged walking robot is mechanically modeled by copying mammals, which have 13 links and 12 joints. But mechanical models are more on technical rather than on biological concepts, which yield unstable locomotion with low speed. Advanced biological locomotive phenomena and their structural characteristics are applied to the mechanical model and simulated for the one cycle. Torques at joints are calculated and finally converted to total consumed energy. Variables, specifying structure and locomotion, are applied to the simulation as a time function, and the optimal variables which minimize energy expenditure are derived which can be directly applied to the Quadruped locomotion.

• Periodical: Advanced Materials Research (Volumes 945-949)
• Pages: 1435-1441
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.945-949.1435
• Online since: June 2014
• Authors: Sung Ho Park*, Dong Pyo Hong
• Keywords: Foot Trajectory, Gravity Center, Joint, Link, Phase, Pitch, Quadruped, Stroke, Support Phase, Terrain, Transfer Phase

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