The mechanics of legged vehicles

Todd, D. J.

doi:10.1007/978-1-4684-6858-8_4

Cited by 1 publication

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“…It is widely accepted that the mammal configuration in statically stable walking machines is better for supporting high loads while the insect one is considered to improve mobility (Todd, 1985). This paper presents a theoretical and experimental analysis of power consumed by an hexapod robot in both configurations.…”

Section: Results and Conclusionmentioning

confidence: 99%

“…This paper, therefore, presents a comparative analysis of the power consumption of two classic leg configurations on the robotic platform SILO6. It is widely accepted that the mammal configuration consumes less energy than the insect one (Todd, 1985). Through a theoretical analysis based on dynamic simulation and real experiments this paper analyzes the role of leg dynamics in the energy consumption of hexapod robots in the two configurations.…”

Section: Introductionmentioning

confidence: 99%

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Analyzing energy‐efficient configurations in hexapod robots for demining applications

Sanz‐Merodio

García²,

Santos³

2012

Industrial Robot: An International Journal

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Purpose -Reducing energy consumption in walking robots is an issue of great importance in field applications such as humanitarian demining so as to increase mission time for a given power supply. The purpose of this paper is to address the problem of improving energy efficiency in statically stable walking machines by comparing two leg, insect and mammal, configurations on the hexapod robotic platform SIL06. Design/methodology/approach -Dynamic simulation of this hexapod is used to develop a set of rules that optimize energy expenditure in both configurations. Later, through a theoretical analysis of energy consumption and experimental measurements in the real platform SIL06, a configuration is chosen. Findings -It is widely accepted that the mammal configuration in statically stable walking machines is better for supporting high loads, while the insect configuration is considered to be better for improving mobility. However, taking into account the leg dynamics and not only the body weight, different results are obtained. In a mammal configuration, supporting body weight accounts for 5 per cent of power consumption while leg dynamics accounts for 31 per cent. Originality/value -As this paper demonstrates, the energy expended when the robot walks along a straight and horizontal line is the same for both insect and mammal configurations, while power consumption during crab walking in an insect configuration exceeds power consumption in the mammal configuration.

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Section: Results and Conclusionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%