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DYNAMIC MODELING AND ENERGY CONSUMPTION ANALYSIS OF CRAB WALKING OF A SIX-LEGGED ROBOT


ABSTRACT
In this paper, an attempt has been made to develop a detailed dynamic model of a realistic six-legged robot during its crab motion. An energy consumption model has been derived for statically stable wave-crab gaits after considering a minimum of dissipating energy for optimal feet forces distributions.
Two approaches, such as minimization of norm of feet forces and minimization of norm of joint torques have been developed. The performances of these approaches have been compared with each other for different values of duty factor.
The effects of walking parameters, namely velocity, stroke, duty factor and crab angle are studied on energy consumption during crab walking. Wave gait with a lower duty factor is found to be more energy-efficient compared to that with the higher duty factor at the highest possible velocity.
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DYNAMIC MODELING AND ENERGY CONSUMPTION ANALYSIS OF CRAB WALKING OF A SIX-LEGGED ROBOT


ABSTRACT
The superior terrain adaptability and maneuverability characteristics of multi-legged robots compared to wheeled or tracked vehicles for off-road locomotion motivated the development of six-legged walking robots.
Six-legged robot might be used for locating and disarming bombs, extinguishing fires, underground mining to recover natural resources, explorations of ocean floors and planets, and others, where a human cannot sustain or which would be dangerous for him/her. However, with today’s technologies, the legged systems have the disadvantages of pay load to weight ratio, and poor energy efficiency.
An autonomous walking robot cannot function satisfactorily with a poor energy efficiency, due to the fact that it has to carry all driving and control units in addition to payload and trunk body. Long duration missions are also subjected to power supply constraints.
The minimization of energy consumption plays a key role in the design of an autonomous multi-legged robot. Various approaches are available in the literature to obtain energy-efficient gaits of multi-legged robots