scholarly journals Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control

2019 ◽  
Vol 9 (9) ◽  
pp. 1771 ◽  
Author(s):  
Kun Yang ◽  
Xuewen Rong ◽  
Lelai Zhou ◽  
Yibin Li
Keyword(s):  
Energy Consumption ◽  
Motion Control ◽  
Spline Interpolation ◽  
Heat Rate ◽  
Step Length ◽  
Quadruped Robot ◽  
Modeling And Analysis ◽  
Quadruped Robots ◽  
Gait Parameters ◽  
Height Step

Energy consumption is an important performance index of quadruped robots. In this paper, the energy consumptions of the quadruped robot SCalf with a trot gait under different gait parameters are analyzed. Firstly, the kinematics and dynamics models of the robot are established. Then, an energy model including the mechanical power and heat rate is proposed. To obtain the energy consumption, a cubic spline interpolation foot trajectory is used, and the feet forces are calculated by using the minimization of norm of the foot force method. Moreover, an energetic criterion measuring the energy cost is defined to evaluate the motion. Finally, the gait parameters such as step height, step length, standing height, gait cycle, and duty cycle that influence the energy consumption are studied, which could provide a theoretical basis for parameter optimization and motion control of quadruped robots.

scholarly journals Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Energies ◽  
2019 ◽  
Vol 12 (13) ◽  
pp. 2514 ◽  
Author(s):  
Kun Yang ◽  
Yibin Li ◽  
Lelai Zhou ◽  
Xuewen Rong
Keyword(s):  
Energy Consumption ◽  
Energy Efficient ◽  
Complex Terrain ◽  
Spline Interpolation ◽  
Heat Rate ◽  
Quadruped Robot ◽  
Pattern Search ◽  
Reference Trajectory ◽  
Quadruped Robots ◽  
Foot Trajectory

Quadruped robots can be used to transport loads or conduct rescue missions on tough terrain. In addition to flexibility and adaptability to complex terrain, the hydraulic driven quadruped robots also have the important characteristic of energy consumption. This paper studies the trot gait motions of the quadruped robot SCalf. The energy model including the mechanical power and heat rate is established, which can be used to obtained the energy consumption of the robot. Compared with a cubic spline interpolation reference trajectory, a foot trajectory based on Fourier series is studied to reduce the joints energy consumption, and the parameters of the foot trajectory are acquired by the Pattern Search method. The effectiveness of the energy efficient trajectory is verified by simulations and verified on the robot prototype.

scholarly journals Modeling and analysis on low energy consumption foot trajectory for hydraulic actuated quadruped robot

2021 ◽  
Vol 18 (6) ◽  
pp. 172988142110620
Author(s):  
Yaru Sun ◽  
Zisen Hua ◽  
Yibin Li ◽  
Chai Hui ◽  
Xianhua Li ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Gait Cycle ◽  
Simulation Analysis ◽  
Spline Interpolation ◽  
Quadruped Robot ◽  
Hydraulic Actuator ◽  
Total Energy Consumption ◽  
Modeling And Analysis ◽  
Quadruped Robots ◽  
Foot Trajectory

According to the energy consumption characteristics of hydraulic actuator, the valuable foot trajectory characterized by using segmented cubic spline interpolation curve in the swing phase is proposed firstly to reduce the energy consumption of quadruped robots, which is implemented by using controlling parameters tf to change the duration of leg raising and falling in one gait cycle, and then realized the directly control to the time ratio between the piston extension and retraction. Then, the total energy consumption of the hydraulic actuated quadruped robot SCalf-II is modeled. Meanwhile, the parameters of the foot trajectory that have a large impact on the energy consumption are determined. Finally, simulation analysis and verification experiments of the robot moving with constant speeds at the key parameters are performed. The results show that for the given foot trajectory, the optimization ranges of the gait cycle and duration of leg lifting from the lowest to highest are determined in which the energy required for the robot locomotion is at a relatively low level.

Light Weight Quadruped with Nine Actuators

2007 ◽  
Vol 19 (2) ◽  
pp. 160-165 ◽  
Author(s):  
Kan Yoneda ◽  
Keyword(s):  
Energy Consumption ◽  
Energy Saving ◽  
Quadruped Robot ◽  
Light Weight ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Reduce Energy Consumption ◽  
Relationship Of ◽  
The Relationship

Quadruped robots, which tend to be heavy can be made lighter by carefully considering the number of actuators and required power. This paper discusses the relationship of the moving functions of quadruped locomotion and the required number of actuators. Using fewer actuators than conventionally need not prevent the quadruped robot from satisfactory locomotion. At the same time, energy saving brings a lighter design, because required actuators and batteries are smaller. This paper discusses several techniques to reduce energy consumption. Combining these discussions, examples of 3-, 5-, and 9-actuator quadrupeds are designed, and experimentally performed good locomotion.

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.

scholarly journals Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator

2015 ◽  
Vol 2015 ◽  
pp. 1-15 ◽  
Author(s):  
Shunsuke Nansai ◽  
Rajesh Elara Mohan ◽  
Ning Tan ◽  
Nicolas Rojas ◽  
Masami Iwase
Keyword(s):  
Dynamic Modeling ◽  
Position Control ◽  
Equations Of Motion ◽  
Load Ratio ◽  
Quadruped Robot ◽  
Legged Robot ◽  
Modeling And Analysis ◽  
Quadruped Robots ◽  
Scalable Design ◽  
First Time

The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system and a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller, thus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.

scholarly journals A Proposal of a Motion Measurement System to Support Visually Impaired People in Rehabilitation Using Low-Cost Inertial Sensors

Entropy ◽  
2021 ◽  
Vol 23 (7) ◽  
pp. 848
Author(s):  
Karla Miriam Reyes Leiva ◽  
Milagros Jaén-Vargas ◽  
Miguel Ángel Cuba ◽  
Sergio Sánchez Lara ◽  
José Javier Serrano Olmedo
Keyword(s):  
Visually Impaired ◽  
Inertial Sensors ◽  
Personal Autonomy ◽  
Low Cost ◽  
Step Length ◽  
Hand Position ◽  
Visually Impaired People ◽  
Gait Parameters ◽  
Impaired Person ◽  
Further Development

The rehabilitation of a visually impaired person (VIP) is a systematic process where the person is provided with tools that allow them to deal with the impairment to achieve personal autonomy and independence, such as training for the use of the long cane as a tool for orientation and mobility (O&M). This process must be trained personally by specialists, leading to a limitation of human, technological and structural resources in some regions, especially those with economical narrow circumstances. A system to obtain information about the motion of the long cane and the leg using low-cost inertial sensors was developed to provide an overview of quantitative parameters such as sweeping coverage and gait analysis, that are currently visually analyzed during rehabilitation. The system was tested with 10 blindfolded volunteers in laboratory conditions following constant contact, two points touch, and three points touch travel techniques. The results indicate that the quantification system is reliable for measuring grip rotation, safety zone, sweeping amplitude and hand position using orientation angles with an accuracy of around 97.62%. However, a new method or an improvement of hardware must be developed to improve gait parameters’ measurements, since the step length measurement presented a mean accuracy of 94.62%. The system requires further development to be used as an aid in the rehabilitation process of the VIP. Now, it is a simple and low-cost technological aid that has the potential to improve the current practice of O&M.

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.

Feasibility and Preliminary Efficacy of Gait Training Assisted by Multichannel Functional Electrical Stimulation in Early Stroke Rehabilitation: A Pilot Randomized Controlled Trial

2021 ◽  
Vol 35 (2) ◽  
pp. 131-144
Author(s):  
Maijke van Bloemendaal ◽  
Sicco A. Bus ◽  
Frans Nollet ◽  
Alexander C. H. Geurts ◽  
Anita Beelen
Keyword(s):  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Step Length ◽  
Gait Training ◽  
Control Group ◽  
Significant Group ◽  
Gait Symmetry ◽  
Gait Parameters ◽  
Walking Capacity ◽  
Experimental Group

Background. Many stroke survivors suffer from leg muscle paresis, resulting in asymmetrical gait patterns, negatively affecting balance control and energy cost. Interventions targeting asymmetry early after stroke may enhance recovery of walking. Objective. To determine the feasibility and preliminary efficacy of up to 10 weeks of gait training assisted by multichannel functional electrical stimulation (MFES gait training) applied to the peroneal nerve and knee flexor or extensor muscle on the recovery of gait symmetry and walking capacity in patients starting in the subacute phase after stroke. Methods. Forty inpatient participants (≤31 days after stroke) were randomized to MFES gait training (experimental group) or conventional gait training (control group). Gait training was delivered in 30-minute sessions each workday. Feasibility was determined by adherence (≥75% sessions) and satisfaction with gait training (score ≥7 out of 10). Primary outcome for efficacy was step length symmetry. Secondary outcomes included other spatiotemporal gait parameters and walking capacity (Functional Gait Assessment and 10-Meter Walk Test). Linear mixed models estimated treatment effect postintervention and at 3-month follow-up. Results. Thirty-seven participants completed the study protocol (19 experimental group participants). Feasibility was confirmed by good adherence (90% of the participants) and participant satisfaction (median score 8). Both groups improved on all outcomes over time. No significant group differences in recovery were found for any outcome. Conclusions. MFES gait training is feasible early after stroke, but MFES efficacy for improving step length symmetry, other spatiotemporal gait parameters, or walking capacity could not be demonstrated. Trial Registration. Netherlands Trial Register (NTR4762).

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