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

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