Optimization of energy consumption for hexapod robot following inclined path using nontraditional gait

2021 ◽  
Author(s):  
Sameh Beaber ◽  
Mohamed Sh. Khadr ◽  
Ahmed Y. AbdelHamid ◽  
Maged M. Abou Elyazed
Keyword(s):  
Energy Consumption ◽  
Hexapod Robot

scholarly journals Minimizing the Energy Consumption for a Hexapod Robot Based on Optimal Force Distribution

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 5393-5406 ◽  
Author(s):  
Guanyu Wang ◽  
Liang Ding ◽  
Haibo Gao ◽  
Zongquan Deng ◽  
Zhen Liu ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Force Distribution ◽  
Hexapod Robot ◽  
Optimal Force ◽  
Optimal Force Distribution

Dynamic Modeling of Energy Efficient Crab Walking of Hexapod Robot

2011 ◽  
Vol 110-116 ◽  
pp. 2730-2739 ◽  
Author(s):  
Shibendu Shekhar Roy ◽  
Dilip Kumar Pratihar
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Energy Efficient ◽  
Average Power ◽  
Force Distribution ◽  
Hexapod Robot ◽  
Gait Patterns ◽  
Joint Torques ◽  
Foot Force ◽  
Average Power Consumption

Crab walking is the most general and very important one for omni-directional walking of a hexapod robot. This paper presents a dynamic model for determining energy consumption and energy efficiency of a hexapod robot during its locomotion over flat terrain with a constant crab angle. The model has been derived for statically stable crab-wave gaits by considering a minimization of dissipating energy for optimal foot force distribution. Two approaches, such as minimization of norm of feet forces and minimization of norm of joint torques have been developed. The variations of average power consumption and energy consumption per weight per traveled length with velocity or stroke have been compared for crab walking with tripod and tetrapod gait patterns. Tetrapod gaits are found to be more energy-efficient compared to the tripod gaits.

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.

scholarly journals Hexapod Robot Gait Switching for Energy Consumption and Cost of Transport Management Using Heuristic Algorithms

2021 ◽  
Vol 11 (3) ◽  
pp. 1339
Author(s):  
Mindaugas Luneckas ◽  
Tomas Luneckas ◽  
Jonas Kriaučiūnas ◽  
Dainius Udris ◽  
Darius Plonis ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Heuristic Algorithms ◽  
Minimum Energy ◽  
Real Life ◽  
Target Function ◽  
Movement Speed ◽  
Walking Robots ◽  
Hexapod Robot ◽  
Cost Of Transport ◽  
Irregular Terrain

Due to the prospect of using walking robots in an impassable environment for tracked or wheeled vehicles, walking locomotion is one of the most remarkable accomplishments in robotic history. Walking robots, however, are still being deeply researched and created. Locomotion over irregular terrain and energy consumption are among the major problems. Walking robots require many actuators to cross different terrains, leading to substantial consumption of energy. A robot must be carefully designed to solve this problem, and movement parameters must be correctly chosen. We present a minimization of the hexapod robot’s energy consumption in this paper. Secondly, we investigate the reliance on power consumption in robot movement speed and gaits along with the Cost of Transport (CoT). To perform optimization of the hexapod robot energy consumption, we propose two algorithms. The heuristic algorithm performs gait switching based on the current speed of the robot to ensure minimum energy consumption. The Red Fox Optimization (RFO) algorithm performs a nature-inspired search of robot gait variable space to minimize CoT as a target function. The algorithms are tested to assess the efficiency of the hexapod robot walking through real-life experiments. We show that it is possible to save approximately 7.7–21% by choosing proper gaits at certain speeds. Finally, we demonstrate that our hexapod robot is one of the most energy-efficient hexapods by comparing the CoT values of various walking robots.

Low Impact Force and Energy Consumption Motion Planning for Hexapod Robot with Passive Compliant Ankles

2018 ◽  
Vol 94 (2) ◽  
pp. 349-370 ◽  
Author(s):  
Haibo Gao ◽  
Yufei Liu ◽  
Liang Ding ◽  
Guangjun Liu ◽  
Zongquan Deng ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Impact Force ◽  
Hexapod Robot

scholarly journals Hexapod Robot Energy Consumption Dependence on Body Elevation and Step Height

2014 ◽  
Vol 20 (7) ◽  
Author(s):  
M. Luneckas ◽  
T. Luneckas ◽  
D. Udris ◽  
N. M. F. Ferreira
Keyword(s):  
Energy Consumption ◽  
Step Height ◽  
Hexapod Robot

Study on hexapod robot manipulation using legs

Robotica ◽  
2014 ◽  
Vol 34 (2) ◽  
pp. 468-481 ◽  
Author(s):  
Xilun Ding ◽  
Fan Yang
Keyword(s):  
Energy Consumption ◽  
Optimization Algorithm ◽  
Control Model ◽  
Walking Robots ◽  
Hexapod Robot ◽  
Robot Manipulation ◽  
Novel Approach ◽  
Kinematic Models ◽  
Reduce Energy Consumption

SUMMARYIn order to provide a novel approach for the operational problems of walking robots, this paper presents a method by which a hexapod robot uses its legs to manipulate an object, and this involves the following two steps. First, two adjacent legs are used to manipulate the object. Next, the supporting legs are required to assist the arms to obtain high manipulability. The manipulation constraints, workplaces, and kinematic models are analyzed using screw theories. Moreover, an optimization algorithm is proposed to reduce energy consumption under stability constraints. We also introduce a manipulation control model that simultaneously considers the supporting and operating legs. Finally, the validity of these methods is proved by the results of experiments and simulations.

Influence of Gait Trajectory and Parameters on Energy Consumption of Hexapod Robot

2021 ◽  
Author(s):  
Yuanxi Sun ◽  
Jingyang Zhan ◽  
Wenbo Duan ◽  
Long Bai ◽  
Jia Zheng ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Hexapod Robot
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