The Energy Consumption Analysis of Four-legged Walking Robot by Using Different Motion Laws

被引：0
|
作者：
Zhang, Xiaohui [1 ]
Wang, Xinjie [1 ]
Wang, Liangwen [1 ]
Chen, Weihong [1 ]
机构：
[1] Zhengzhou Univ Light Ind, Dept Electromech Sci & Engn, Zhengzhou 450002, Henan, Peoples R China
来源：
ADVANCES IN MANUFACTURING TECHNOLOGY, PTS 1-4 | 2012年 / 220-223卷
关键词：
Four-legged robots; trajectory planning; energy consumption; movement simulation; PATH;
D O I：
10.4028/www.scientific.net/AMM.220-223.1212
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, controlling the motion of mass center of robot by different motion laws is discussed to reduce motor's drive power of robot joint. Firstly, correlation theory is described; obtain that if the (AV) value of motion parameter of robot' mass center is smaller; the torque of drive motor which needs to drive robot is smaller under the same conditions. Then, in the process of robot ZQROT-I running the straight gait, two typical motion laws are used to control mass motion of robot; motion performance of the robot is analyzed with Adams. Analysis result indicates that control mass motion of robot by the use of motion laws with small (AV) value has certain effect in saving working energy of robot.
引用
收藏
页码：1212 / 1216
页数：5
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