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

Sun, Yuanxi; Zhan, Jingyang; Duan, Wenhui; Bai, Long; Jia, Zheng; Chen, Xiaohong

doi:10.1109/icarm52023.2021.9536062

Cited by 4 publications

(3 citation statements)

References 14 publications

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“…These studies use various gait parameters and path design methods to optimize the energy consumption of robots. For example, Sun et al (2021) studied the impact of gait trajectory and parameters on the energy consumption of a hexapod robot using dynamic analysis. Dong et al (2021) modeled the energy consumption of a hydraulic hexapod robot using the centroidal fluctuation gait design method.…”

Section: Related Work Of Robot Energy Modelingmentioning

confidence: 99%

Modeling analysis and experiment for energy system of ocean energy driven unmanned marine vehicle: The Yulang II case study

Jia,

Liao,

et al. 2024

Journal of Field Robotics

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It is critical to master a marine robot's energy system characteristics adequately to ensure that the robot can perform long‐endurance tasks in complex and ever‐changing marine environments. This paper presents, for the first time, an energy system modeling and analysis method for a marine robot driven by wind, solar, and wave composite energy, using Yulang II as an example. First, an onshore experiment method was designed, and then the conversion experiment of wind, sunlight, and electrical energy was carried out based on that experiment method. At the same time, based on computational fluid dynamics technology, a resistance pole curve considering wave energy capture is constructed. In addition, the attitude, relative motion, and battery constraints of the robot in the ocean are analyzed to construct the energy system model of Yulang II. Finally, the method and model proposed in this paper were compared and verified by simulation and field tests. The results indicated that the corrected forecast deviation was 5.71% in the typical marine environment of the experiment, which supported the study of ocean energy‐driven unmanned marine vehicles strongly.

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Section: Related Work Of Robot Energy Modelingmentioning

confidence: 99%

Modeling analysis and experiment for energy system of ocean energy driven unmanned marine vehicle: The Yulang II case study

Jia,

Liao,

et al. 2024

Journal of Field Robotics

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“…Nonetheless, this configuration enables the robot to move quickly and efficiently on flat surfaces. Although the angle of the wheels is fixed, the balance and motion of the robot can be adjusted, similar to that of a balanced scooter [16]. Figure 3 shows the hexapod gait of the robot, which is designed with C-shaped legs and an arched body to provide outstanding stability and mobility [17].…”

Section: Structural Designmentioning

confidence: 99%

Structural design and motion study of wheel-footed hexapod robot

Yang,

Zhu

2023

Third International Conference on Control and Intelligent Robotics (ICCIR 2023)

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“…In turn, the control strategies commonly used in hexapods aim at developing efficient and adaptive locomotion [14][15][16]. Several studies employ Artificial Intelligence (AI) for the efficient gait generation in regular surfaces [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

Coelho,

Dias,

Lopes

et al. 2023

Robotica

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The adaptability of hexapods for various locomotion tasks, especially in rescue and exploration missions, drives their application. Unlike controlled environments, these robots need to navigate ever-changing terrains, where ground irregularities impact foothold positions and origin shifts in contact forces. This dynamic interaction leads to varying hexapod postures, affecting overall system stability. This study introduces a posture control approach that adjusts the hexapod’s main body orientation and height based on terrain topology. The strategy estimates ground slope using limb positions, thereby calculating novel limb trajectories to modify the hexapod’s angular position. Adjusting the hexapod’s height, based on the calculated slope, further enhances main body stability. The proposed methodology is implemented and evaluated on the ATHENA hexapod (All-Terrain Hexapod for Environment Adaptability). Control feasibility is assessed through dynamic analysis of the hexapod’s multibody model on irregular surfaces, using computational simulations in Gazebo software. Environmental complexity’s impact on hexapod stability is tested on both a ramp and uneven terrain. Independent analyses for each scenario evaluate the controller’s effect on roll and pitch angular velocities, as well as height variations. Results demonstrate the strategy’s suitability for both environments, significantly enhancing posture stability.

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

Cited by 4 publications

References 14 publications

Modeling analysis and experiment for energy system of ocean energy driven unmanned marine vehicle: The Yulang II case study

Modeling analysis and experiment for energy system of ocean energy driven unmanned marine vehicle: The Yulang II case study

Structural design and motion study of wheel-footed hexapod robot

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

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