Planning and Analysis of Centroid Fluctuation Gait for Hydraulic Hexapod Robot[−2pt]

Abstract

Energy consumption is an important comprehensive index of the hydraulic hexapod robot (HHR). In this paper, the kinematics model and the hydraulic system energy consumption model of HHR are established. In order to reduce the energy consumption, a centroid fluctuation gait that adds the movement of the centroid in the vertical direction is proposed. Then the gait parameters such as step length, gait cycle, average centroid height, centroid fluctuation height, and phase that influence the energy consumption are studied which could provide a theoretical basis for parameter optimization. In the same gait parameters, compared with using constant height gait, the energy consumption of HHR using centroid fluctuation gait is generally reduced, and the maximum energy saving can be more than 10%. Finally, a virtual prototype is used to verify the effectiveness of the proposed methods.

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

“…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. Liu et al (2021) proposed a trotting gait design method based on energy consumption for quadruped robots, resulting in energy minimization.…”