Real-time control of walking
An analytical approach for gait study and its applications on wave gaits
International Journal of Robotics Research
RHex: A Biologically Inspired Hexapod Runner
Autonomous Robots
Autonomous Robots: From Biological Inspiration to Implementation and Control (Intelligent Robotics and Autonomous Agents)
iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running
International Journal of Robotics Research
Adaptive four legged locomotion control based on nonlinear dynamical systems
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
Torque Distribution in a Six-Legged Robot
IEEE Transactions on Robotics
Free gait generation with reinforcement learning for a six-legged robot
Robotics and Autonomous Systems
Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot
Robotics and Autonomous Systems
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
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In this paper an energy efficiency analysis of wave gaits is performed for a six-legged walking robot. A simulation model of the robot is used to obtain the data demonstrating the energy consumption while walking in different modes and with varying parameters. Based on the analysis of this data some strategies are derived in order to minimize the search effort for determining the parameters of the gaits for an energy efficient walk. Then, similar data is obtained from an actual experimental setup, in which the Robot-EA308 is used as the walking machine. The strategies are justified based on this realistic data. The analysis concludes the following: a phase modified version of wave gaits is more efficient than the (conventional) wave gaits, using the possible minimum protraction time results in more energy efficient gaits and higher velocity results in less energy consumption per traveled distance. A stability analysis is performed for the phase modification of the wave gaits, and the stability loss due to the modification is calculated. It is concluded that the loss in stability is insignificant.