Energy Consumption Analysis of Quadruped Robot with Trot Gait
Energy consumption is one of the important evaluating indicators for walking robots.In this paper,the kinematics modeling of quadruped robot with trot gait was analyzed firstly.And then the dynamics modeling was analyzed,which considering periodic contact force between foots and ground during walking,and considering the elastic elements.Finally,the total energy consumption of walking robot during whole gait cycle was derived based on the dynamic model.The specific resistance was proposed to evaluate energy efficiency of quadruped robot with trot gait,and the relationship between specific resistance and gait parameters was presented,which will be used to analyze the energy efficiency and influencing factors,and then determine the reasonable gait parameters.
Quadruped robot Trot gait Dynamic modeling Energy efficiency
Lei Jingtao Wang Feng
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
国际会议
香港
英文
1531-1535
2012-12-11（万方平台首次上网日期，不代表论文的发表时间）