Title :
Computation of walking robots movement energy expenditure
Author_Institution :
Dept. of Theor. Mech., Volgograd State Univ.
Abstract :
Methods of computing the energetics of multifeet walking transportation machines with independent carrying drives, adaptation drives, and turn drives have been created. They were compared with power expenditures of wheeled and caterpillar machines. The problem of delivery optimisation of efforts upon the support feet for minimum ground deformation has been solved. The specifications of machine direct and curved movements have been described. The results of computation are presented
Keywords :
legged locomotion; minimisation; robot dynamics; robot kinematics; adaptation drives; carrying drives; curved movements; direct movements; minimum ground deformation; movement energy expenditure; multifeet walking transportation machines; power expenditures; turn drives; walking robots; Coils; Engines; Friction; Gears; Kinematics; Legged locomotion; Mobile robots; Stability; Transportation; Wheels;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.676349
