Robotics: control, sensing, vision, and intelligence
Robotics: control, sensing, vision, and intelligence
Force control in locomotion of legged vehicles over rigid and soft surfaces
International Journal of Robotics Research
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
Numerical Methods for Engineers
Numerical Methods for Engineers
Complex-order dynamics in hexapod locomotion
Signal Processing - Fractional calculus applications in signals and systems
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
Expert Systems with Applications: An International Journal
Torque Distribution in a Six-Legged Robot
IEEE Transactions on Robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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This paper deals with a detailed analysis on kinematics, dynamics, stability and energy consumption of a realistic six-legged robot. The aim of this study is to extend a previous work of Roy et al. [1], in order to estimate optimal feet forces and joint torques of the six-legged robot generating wave-gaits with four different duty factors and deal with its stability issues. Two different approaches are developed to determine optimal feet forces. In the first approach, minimization of the norm of feet forces is carried out using a least square method, whereas minimization of the norm of joint torques is performed in the second approach. The second approach is found to be more energy efficient compared to the first one. The maximum values of feet forces and joint torques are seen to decrease with the increase of duty factor. The effects of walking parameters, namely velocity, stroke and duty factors have been studied on energy consumption and stability of the robot. The variations of average power consumption and specific energy consumption with the velocity and stroke are compared for four different duty factors. Wave gait with a low duty factor is found to be more energy-efficient compared to that with a high duty factor at the highest possible velocity.