Joint Space Reference Trajectory to Reduce the Energy Consumption of a Six-Legged Mobile Robot

被引：0

作者：

Bodrov, Alexey ^{[1
]}

Cheah, Weichen ^{[1
]}

Green, Peter N. ^{[1
]}

Watson, Simon ^{[1
]}

Apsley, Judith ^{[1
]}

机构：

[1] Univ Manchester, Sch Elect & Elect Engn, Manchester M13 9PL, Lancs, England

来源：

2018 25TH INTERNATIONAL WORKSHOP ON ELECTRIC DRIVES: OPTIMIZATION IN CONTROL OF ELECTRIC DRIVES (IWED2018) | 2018年

关键词：

legged mobile robots; energy consumption; DC actuators; joint torques; WALKING; DESIGN;

D O I：

暂无

中图分类号：

TE [石油、天然气工业]; TK [能源与动力工程];

学科分类号：

0807 ; 0820 ;

摘要：

Energy consumption minimization is an essential issue for the mobile robots directly affecting their autonomy. This is particularly important for legged robots, which are less efficient than wheeled robots, but are more suitable for locomotion across irregular and inclined terrain. In this paper a novel strategy to control the legged mobile robot with reduced energy consumption is presented. It is based on reference trajectory optimization for each joint/actuator. Experimental results show the 23.6% energy consumption reduction compared to the conventional control approach.

引用

页数：6

共 50 条

[21] Human-Tracking Strategies for a Six-legged Rescue Robot Based on Distance and View [J].

Pan Yang ;

Gao Feng ;

Qi Chenkun ;

Chai Xun .

CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2016, 29 (02) :219-230

[22] Development and Implementation of a Six-Legged Skiing Robot for Cross-Country Skiing Techniques [J].

Wang, Liangyu ;

Yin, Yunpeng ;

Yang, Limin ;

Gao, Feng ;

Chen, Xianbao .

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2024, PT III, 2025, 15203 :185-198

[23] Hexapod Adaptive Gait Inspired by Human Behavior for Six-Legged Robot Without Force Sensor [J].

Xu, Yilin ;

Gao, Feng ;

Pan, Yang ;

Chai, Xun .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2017, 88 (01) :19-35

[24] Electro-hydraulic control system and Frequency analysis for a hydraulically driven six-legged robot [J].

Tong, Zhizhong ;

Ye, Zhengmao ;

Gao, Haibo ;

He, Jingfeng ;

Deng, Zongquan .

2016 IEEE/CSAA INTERNATIONAL CONFERENCE ON AIRCRAFT UTILITY SYSTEMS (AUS), 2016, :554-559

[25] Adaptive neuro-fuzzy expert systems for predicting specific energy consumption and energy stability margin in crab walking of six-legged robots [J].

Roy, Shibendu Shekhar ;

Pratihar, Dilip Kumar .

JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, 2013, 24 (03) :467-482

[26] A New Mechanical Design for Legged Robots to Reduce Energy Consumption [J].

Mahmoodabadi, M. J. ;

Dresscher, D. ;

Stramigioli, S. .

INTERNATIONAL JOURNAL OF ENGINEERING, 2020, 33 (12) :2530-2537

[27] Analysis Method of Articulated Torque of Heavy-Duty Six-Legged Robot under Its Quadrangular Gait [J].

Zhuang, Hong-Chao ;

Gao, Hai-Bo ;

Deng, Zong-Quan .

APPLIED SCIENCES-BASEL, 2016, 6 (11)

[28] A Path Planning Method with Minimum Energy Consumption for Multi-joint Mobile Robot [J].

Zhao Xu ;

Su Zhong ;

Dou Lihua .

2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, :8326-8330

[29] Novel method for preventing shin-collisions in six-legged robots by utilising a robot-terrain interference model [J].

Mao, Liheng ;

Gao, Feng ;

Tian, Yuan ;

Zhao, Yue .

MECHANISM AND MACHINE THEORY, 2020, 151

[30] Autonomous Fault-Tolerant Gait Planning Research for Electrically Driven Large-Load-Ratio Six-Legged Robot [J].

Zhuang, Hong-Chao ;

Wang, Ning ;

Gao, Hai-Bo ;

Deng, Zong-Quan .

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT I, 2019, 11740 :231-244

← 1 2 3 4 5 →