Analysis of wave gaits for energy efficiency
Autonomous Robots
Estimation of optimal feet forces and joint torques for on-line control of six-legged robot
Robotics and Computer-Integrated Manufacturing
Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot
Robotics and Autonomous Systems
Robotics and Computer-Integrated Manufacturing
Dynamic modeling, stability and energy consumption analysis of a realistic six-legged walking robot
Robotics and Computer-Integrated Manufacturing
Power Consumption Optimization for a Hexapod Walking Robot
Journal of Intelligent and Robotic Systems
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology - Recent Advances in Soft Computing: Theories and Applications
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In this paper, distribution of required forces and moments to the supporting legs of a six-legged robot is handled as a torque-distribution problem. This approach is comparatively contrasted to the conventional approach of tip-point force distribution. The formulation of dynamics is performed by using the joint torques as the primary variables. The sum of the squares of the joint torques on the supporting legs is considered to be proportional to the dissipated power. The objective function is constructed as this sum, and the problem is formulated as to minimize this quadratic objective function with respect to linear equality and inequality constraints. It is demonstrated that the torque-distribution scheme results in a much more efficient distribution compared with the conventional scheme of force distribution. In contrast to the force distribution, the torque-distribution scheme makes good use of interaction forces and friction in order to minimize the required joint torques