Dynamic Modeling, Stability and Energy Consumption Analysis of Turning Motion of Realistic Hexapod Walking Robots

2011 ◽  
Author(s):  
Shibendu Shekhar Roy ◽  
Dilip Kumar Pratihar
Keyword(s):  
Energy Consumption ◽  
Angular Velocity ◽  
Dynamic Modeling ◽  
Stability Margin ◽  
Duty Factor ◽  
Walking Robots ◽  
Dissipated Energy ◽  
Total Energy Consumption ◽  
Joint Torques ◽  
Turning Motion

This paper presents a detailed dynamic modeling of a realistic hexapod walking robot during its turning motion over flat terrain. An energy consumption model is derived for generating statically stable wave-turning gaits by minimizing dissipated energy for the optimal feet forces distributions. Two approaches, such as minimization of norm of feet forces and minimization of norm of joint torques have been developed using least squared method. The performances of these approaches have been compared with one other for different values of duty factor. The effects of walking parameters, namely angular velocity, angular stroke and duty factors are studied on energy consumption and stability during turning motion. In order to minimize total energy consumption, the angular velocity should be as high as possible for a particular duty factor. A stability analysis based on normalized energy stability margin is performed for the turning motion of robot with four duty factors for different angular strokes.

scholarly journals Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Liyang Wang ◽  
Ming Chen ◽  
Xiangkui Jiang ◽  
Wei Wang
Keyword(s):  
Energy Consumption ◽  
Quadratic Programming ◽  
Energy Optimization ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Biped Robots ◽  
Biped Walking ◽  
Joint Torques ◽  
Force Moment

The application of biped robots is always trapped by their high energy consumption. This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits. In this work, a constrained quadratic programming (QP) problem for energy optimization is formulated. A neurodynamics-based solver is presented to solve the QP problem. Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO) strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i) the force-moment equilibrium equation of biped robots, (ii) frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii) physical limits of the motors. Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.

scholarly journals Galloping Trajectory Generation of a Legged Transport Robot Based on Energy Consumption Optimization

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Yaguang Zhu ◽  
Tong Guo
Keyword(s):  
Energy Consumption ◽  
Trajectory Planning ◽  
Stance Phase ◽  
Gait Cycle ◽  
Complex Surface ◽  
Walking Robots ◽  
Joint Torques ◽  
Energy Consumption Optimization ◽  
System Energy ◽  
Lift Off

Legged walking robots have very strong operation ability in the complex surface and they are very suitable for transportation of tools, materials, and equipment in unstructured environment. Aiming at the problems of energy consumption of legged transport robot during the fast moving, a method of galloping trajectory planning based on energy consumption optimization is proposed. By establishing transition angle polynomials of flight phase, lift-off phase, and stance phase and constraint condition between each state phase, the locomotion equations of the ellipse trajectory are derived. The transition angle of each state phase is introduced into the system energy consumption equations, and the energy optimization index based on transition angles is established. Inverse kinematics solution and trajectory planning in one gait cycle are applied to genetic algorithm process to solve the nonlinear programming problem. The results show that the optimized distribution of transition angles of state phases is more reasonable, and joint torques and system energy consumption are reduced effectively. Thus, the method mentioned above has a great significance to realize fast operation outdoors of transport robot.

OPTIMAL DESIGN OF HEXAPOD WALKING ROBOT LEG STRUCTURE BASED ON ENERGY CONSUMPTION AND WORKSPACE

2014 ◽  
Vol 38 (3) ◽  
pp. 305-317 ◽  
Author(s):  
Ya-guang Zhu ◽  
Bo Jin ◽  
Wei Li ◽  
Shi-tong Li
Keyword(s):  
Energy Consumption ◽  
Optimal Design ◽  
Minimum Energy ◽  
Inequality Constraints ◽  
Optimal Parameters ◽  
Walking Robot ◽  
Total Energy Consumption ◽  
Joint Torques ◽  
Minimum Energy Consumption ◽  
Robot Leg

In order to achieve the optimal design of the hexapod walking robot leg structure, a combined index of energy consumption and workspace is raised. By deriving the energy consumption functions and analyzing the target workspace, a mathematical model of nonlinear programming with inequality constraints is established. The genetic algorithm coupled with inverse kinematics and trajectory planning in a gait period is utilized to solve the optimization problem. The analysis verifies that the requirements of turning and obstacle overcoming can be satisfied, and the total energy consumption can be reduced. The results show that the optimal parameters not only satisfy the requirement of the target workspace, but also achieve the minimum energy consumption and lower joint torques.

Including Joint Torques and Power Consumption in the Stability Margin of Walking Robots

2005 ◽  
Vol 18 (1) ◽  
pp. 43-57 ◽  
Author(s):  
P. Gonzalez de Santos ◽  
J. Estremera ◽  
E. Garcia ◽  
M. Armada
Keyword(s):  
Power Consumption ◽  
Stability Margin ◽  
Walking Robots ◽  
Joint Torques ◽  
The Stability

Energy Consumption Analysis of Quadruped Robot with Trot Gait

2012 ◽  
Vol 271-272 ◽  
pp. 1531-1535
Author(s):  
Jing Tao Lei ◽  
Feng Wang
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Specific Resistance ◽  
Quadruped Robot ◽  
Walking Robots ◽  
Dynamics Modeling ◽  
Total Energy Consumption ◽  
Trot Gait ◽  
Gait Parameters ◽  
Kinematics Modeling

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.

Energy savings potential of new aeration system: Full scale trials

2012 ◽  
Vol 7 (4) ◽  
Author(s):  
A. Lazić ◽  
V. Larsson ◽  
Å. Nordenborg
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Total Energy ◽  
Energy Savings ◽  
Treatment Plant ◽  
Full Scale ◽  
Total Energy Consumption ◽  
Aeration System ◽  
Fine Bubble ◽  
Aeration Control

The objective of this work is to decrease energy consumption of the aeration system at a mid-size conventional wastewater treatment plant in the south of Sweden where aeration consumes 44% of the total energy consumption of the plant. By designing an energy optimised aeration system (with aeration grids, blowers, controlling valves) and then operating it with a new aeration control system (dissolved oxygen cascade control and most open valve logic) one can save energy. The concept has been tested in full scale by comparing two treatment lines: a reference line (consisting of old fine bubble tube diffusers, old lobe blowers, simple DO control) with a test line (consisting of new Sanitaire Silver Series Low Pressure fine bubble diffusers, a new screw blower and the Flygt aeration control system). Energy savings with the new aeration system measured as Aeration Efficiency was 65%. Furthermore, 13% of the total energy consumption of the whole plant, or 21 000 €/year, could be saved when the tested line was operated with the new aeration system.

scholarly journals Crushed Bricks: Demolition Waste as a Sustainable Raw Material for Geopolymers

2021 ◽  
Vol 13 (14) ◽  
pp. 7572
Author(s):  
Gigliola D’Angelo ◽  
Marina Fumo ◽  
Mercedes del Rio Merino ◽  
Ilaria Capasso ◽  
Assunta Campanile ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Building Materials ◽  
Mechanical Performance ◽  
Raw Materials ◽  
Construction Material ◽  
Raw Material ◽  
The European Union ◽  
Total Energy Consumption ◽  
Demolition Waste ◽  
Crushed Brick

Demolition activity plays an important role in the total energy consumption of the construction industry in the European Union. The indiscriminate use of non-renewable raw materials, energy consumption, and unsustainable design has led to a redefinition of the criteria to ensure environmental protection. This article introduces an experimental plan that determines the viability of a new type of construction material, obtained from crushed brick waste, to be introduced into the construction market. The potential of crushed brick waste as a raw material in the production of building precast products, obtained by curing a geopolymeric blend at 60 °C for 3 days, has been exploited. Geopolymers represent an important alternative in reducing emissions and energy consumption, whilst, at the same time, achieving a considerable mechanical performance. The results obtained from this study show that the geopolymers produced from crushed brick were characterized by good properties in terms of open porosity, water absorption, mechanical strength, and surface resistance values when compared to building materials produced using traditional technologies.

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