Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot

2012 ◽  
Vol 60 (1) ◽  
pp. 72-82 ◽  
Author(s):  
Shibendu Shekhar Roy ◽  
Dilip Kumar Pratihar
Keyword(s):  
Energy Consumption ◽  
Walking Robot ◽  
Gait Parameters

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

Kinematics Characteristic of Exoskeleton Walking Robot for Older People

2014 ◽  
Vol 644-650 ◽  
pp. 167-170 ◽  
Author(s):  
Yong Chen ◽  
Sheng Lin ◽  
Rong Hua Li ◽  
Lian Dong Zhang
Keyword(s):  
Older People ◽  
High Speed ◽  
Video Camera ◽  
Step Length ◽  
Walking Robot ◽  
Step Frequency ◽  
High Speed Video ◽  
High Speed Video Camera ◽  
Gait Parameters ◽  
The Impact

The movement processes of the older people during walking on level ground were captured by the high-speed video camera with the speed of 500 frames per second. The gait parameters of the older people during walking on level ground were obtained by the quantitative analysis of the successive photographs captured by the high-speed video camera. Kinematics features of the older people during walking on level ground were discussed. Along with the growth of the age, step velocity, step frequency and step length were reduced, and gait cycle was rising. According to the morphology of the older people during walking on level ground, a mechanical model was put forward to aid the design of the exoskeleton walking robot. The couple walking characteristics between the older wearer and the exoskeleton walking robot was studied. In the single support phase of the exoskeleton walking robot, the change of the hip joint was gradually decreased to provide the driving force for the stable walk, the change of the knee joint was increased and following decreased and then increased to forward the older people's body center of gravity, and the change of the ankle joint was gradually increased to reduce the impact force of the ground. The results would provide the basic theory to bionic references for improving the reasonable properties of the exoskeleton walking robot. This work would provide certain theoretical and practical base in developing the exoskeleton walking robot on bionic structural design.

Design of a Biped Robot With Torsion Springs at the Joints for Reduced Energy Consumption During Walk

2009 ◽  
Author(s):  
Santosh Pratap Singh ◽  
Ashish Dutta ◽  
Anupam Saxena
Keyword(s):  
Energy Consumption ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Biped Robot ◽  
Single Step ◽  
Biped Robots ◽  
Gait Parameters ◽  
Reduction Of Energy Consumption ◽  
Torsion Springs ◽  
Spring Constants

Biped robots have multiple degrees of freedom for walking and hence they consume a lot of energy. In this paper it is proposed that adding torsion springs at the joints of an 8 DOF biped will lead to reduced energy consumption during walk. First the dynamic equations of motion of the biped robot are obtained incorporating the torsion springs at the joints. Using the dynamic model the total energy consumed during walk was evaluated for a single step. A Genetic Algorithm (GA) based algorithm was developed for finding the energy optimal trajectory during gait by comparing all the possible trajectories. It is first proved that addition of torsion springs at the joints lead to reduction of energy consumption as compared to a biped with no springs. All the gait parameters were then optimized to get the optimum values for the spring constants at each joint, reference angle of springs and length of each step. It is proved that using these optimal parameters the proposed biped robot consumes the least energy.

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

2012 ◽  
Vol 163 ◽  
pp. 176-179 ◽  
Author(s):  
Xin Jie Wang ◽  
Liang Wen Wang ◽  
An Sheng Li ◽  
Chuan Peng Wang
Keyword(s):  
Energy Consumption ◽  
Moment Function ◽  
Mass Motion ◽  
Mass Center ◽  
Walking Robot ◽  
Motion Function ◽  
Torque Moment ◽  
Motion Performance ◽  
Small Torque ◽  
Robot Running

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.

ON-BOARD ENERGY CONSUMPTION ESTIMATION FOR A SIX-LEGGED WALKING ROBOT

2011 ◽  
Author(s):  
A. Roennau ◽  
F. Sutter ◽  
T. Kerscher ◽  
R. Dillmann
Keyword(s):  
Energy Consumption ◽  
Walking Robot

scholarly journals Mechanical Design and Gait Optimization of Hydraulic Hexapod Robot Based on Energy Conservation

2020 ◽  
Vol 10 (11) ◽  
pp. 3884
Author(s):  
Shou Zhai ◽  
Bo Jin ◽  
Yilu Cheng
Keyword(s):  
Energy Consumption ◽  
Mechanical Design ◽  
Optimal Solution ◽  
Design Sensitivity ◽  
Unit Weight ◽  
Total Power ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Mechanical Structure ◽  
Highly Nonlinear

Minimizing energy consumption is significant for the hydraulic walking robot to reduce its power unit weight and increase working hours. However, most robot leg designs are inefficient due to their bio-mimetic or mission-specific mechanical structure. This paper presents a structural optimization method of the hydraulic walking robot by optimizing its mechanical structure and gait parameters simultaneously. The mathematical model of the total power of the hydraulic hexapod robot (HHR) is established, which is derived based on a general template for designing the hydraulic walking robot. The archive-based micro genetic algorithm (AMGA) is used to optimize the highly nonlinear multi-constraint multi-objective optimizations. In the optimal solution, the energy consumption of the HHR has reduced more than 40% by comparison with the original mechanical structure and gait parameter. Design sensitivity analysis is carried out to determine the regulation of mechanical structure, and a virtual prototype is used to verify the effectiveness of the proposed methods.

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