Robotics: control, sensing, vision, and intelligence
Robotics: control, sensing, vision, and intelligence
Three uses for springs in legged locomotion
International Journal of Robotics Research
Machines That Walk: The Adaptive Suspension Vehicle
Machines That Walk: The Adaptive Suspension Vehicle
Optimal turning gait of a six-legged robot using a GA-fuzzy approach
Artificial Intelligence for Engineering Design, Analysis and Manufacturing
Analysis of wave gaits for energy efficiency
Autonomous Robots
Improving walking-robot performances by optimizing leg distribution
Autonomous Robots
Robotics and Autonomous Systems
LUNARES: lunar crater exploration with heterogeneous multi robot systems
Intelligent Service Robotics
Estimation of optimal feet forces and joint torques for on-line control of six-legged robot
Robotics and Computer-Integrated Manufacturing
Generating continuous free crab gaits for quadruped robots on irregular terrain
IEEE Transactions on Robotics
Torque Distribution in a Six-Legged Robot
IEEE Transactions on Robotics
Omnidirectional walking of legged robots with a failed leg
Mathematical and Computer Modelling: An International Journal
Expert Systems with Applications: An International Journal
Dynamic modeling, stability and energy consumption analysis of a realistic six-legged walking robot
Robotics and Computer-Integrated Manufacturing
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology - Recent Advances in Soft Computing: Theories and Applications
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Minimization of energy consumption plays a key role in the locomotion of a multi-legged robot used for various purposes. Turning gaits are the most general and important factors for omni-directional walking of a six-legged robot. This paper presents an analysis on energy consumption of a six-legged robot during its turning motion over a flat terrain. An energy consumption model is developed for statically stable wave gaits in order to minimize dissipating energy for optimal feet forces distributions. The effects of gait parameters, namely angular velocity, angular stroke and duty factors are studied on energy consumption, as the six-legged robot walks along a circular path of constant radius with wave gait. The variations of average power consumption and energy consumption per unit weight per unit traveled length with the angular velocity and angular stroke are compared for the turning gaits of a robot with four different duty factors. Computer simulations show that wave gait with a low duty factor is more energy-efficient compared to that with a high duty factor at the highest possible angular velocity. A stability analysis based on normalized energy stability margin is performed for turning motion of the robot with four duty factors for different angular strokes.