The research about energy consumption and using motion function of mass center for four-legged walking robot

摘要：

　　In order to reducing motors energy consumption,the problem about motion function,which has torque feature (A·V)m small,is discussed in this paper.Conventional functions and small torque moment function are used to control mass center motion of robot ZQROT-I respectively.In the process of robot running the straight gait,motion performance of the robot is analyzed by ADAMS.Analysis result indicates that function controlling mass motion of robot with small torque feature has significant meaning for saving working energy of robot.

关键词： Four-legged walking robot Trajectory planning Energy consumption Movement simulation

作者: Xinjie Wang Liangwen Wang Ansheng Li Chuanpeng Wang

作者单位: Mechanical and Electrical Engineering Institute, Zhengzhou University of Light Industry, Zhengzhou, Henan, 450002, P.R.China

会议类型: 国际会议

会议名称: The 9th International Conference on History of Mechanical Technology and Mechanical Design (第9届中日机械技术史及机械设计国际会议(ICHMTMD 2012))

会议地点: 台湾

会议语种:英文

页码: 176-179

在线出版日期: 2012-03-23（万方平台首次上网日期，不代表论文的发表时间）