Energy Consumption of Trotting Gait for a Quadruped Robot
Battery driven robots have many advantages over combustion robots.They are clean,quiet,and can work in the airless or flammable environment.However,the limitation of the battery endurance is a great challenge.In order to increase the working hours of the battery driven quadruped robot,the energy expenditure of trotting gait under different gait parameters is studied.Firstly,the kinematic model of the quadruped robot and its gait planning method are introduced.Secondly,the dynamic model of the leg and the robot body are presented and the energy expenditures in the stance phase and the swing phase during trotting are analyzed.It can be proved that for any given trotting speed,the combination of the stride frequency and the stride length has great influence on the energy expenditure.Finally,experiments are presented to validate of the theory.The results show that by properly choosing the gait parameters the energy expenditure in trotting can be efficiently reduced.
Quadruped robot Energy consumption Trotting gait
Xianbao Chen Feng Gao Chenkun Qi Lin Wei
State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University, Shanghai 200240, China
国际会议
广州
英文
295-306
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）