Analysis of wave gaits for energy efficiency

Date

2006-01-01

Author

Erden, Mustafa Suphi
Leblebicioğlu, Mehmet Kemal

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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In this paper an energy efficiency analysis of wave gaits is performed for a six-legged walking robot. A simulation model of the robot is used to obtain the data demonstrating the energy consumption of the robot while walking in different modes and with varying parameters. Based on the analysis of this data some strategies are derived in order to minimize the search effort for determining the parameters of the gaits for an energy efficient walk. The analysis concludes the following: a phase modified version of the wave gaits are more efficient than the (conventional) wave gaits; using the possible minimum protraction time results in more energy efficient gaits; and higher velocity results in less energy consumption per traveled distance.

Subject Keywords

Locomotion, Energy efficiency, Robots, Legged locomotion, Energy consumption, Performance analysis, Data analysis, Stability

URI

https://hdl.handle.net/11511/41097

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar