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Analysis of wave gaits for energy efficiency
Date
2006-01-01
Author
Erden, Mustafa Suphi
Leblebicioğlu, Mehmet Kemal
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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
DOI
https://doi.org/10.1109/siu.2006.1659772
Collections
Department of Electrical and Electronics Engineering, Conference / Seminar
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Analysis of wave gaits for energy efficiency
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M. S. Erden and M. K. Leblebicioğlu, “Analysis of wave gaits for energy efficiency,” 2006, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/41097.
