Analysis of wave gaits for energy efficiency

Date

2006-01-01

Author

Erden, Mustafa Suphi
Leblebicioğlu, Mehmet Kemal

Metadata

Show full item record

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

Item Usage Stats

134
views

0
downloads

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

Suggestions

OpenMETU
Core

Analysis of wave gaits for energy efficiency Erden, Mustafa Suphi; Leblebicioğlu, Mehmet Kemal (2007-10-01) 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 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. Then, similar data is obtained from an actual experimental setup, in which ...
Design of energy efficient hopper by using parallel elasticity and wrapping cam mechanisms Candan, Sinan Şahin; Yazıcıoğlu, Yiğit; Department of Mechanical Engineering (2019) Improving energy efficiency and control accuracy in legged robot design are important due to demand for complex tasks and prolonged operation time. Solving such a problem can be tackled by the determination of mathematical models, selecting appropriate controllers, integrating actuators and mechanical leg design. Model and control method is selected as Spring Loaded Inverted Pendulum (SLIP) with constant forcing and virtual tunable damping. Parallel elastic and series elastic architectures are considered fo...
Optimization of AA-Battery Sized Electromagnetic Energy Harvesters: Reducing the Resonance Frequency Using a Non-Magnetic Inertial Mass Yasar, Oguz; Ulusan, Hasan; Zorlu, Ozge; Sardan-Sukas, Ozlem; Külah, Haluk (2018-06-01) This paper presents an optimization study for a miniature electromagnetic energy harvester, by incorporating a non-magnetic inertial mass (tungsten) along with the axially oriented moving magnets. The aim is to decrease the operation frequency and increase the output power of the harvester with the usage of higher density material and larger magnetic flux density. Dimensions of the magnets are optimized according to the harvester dimensions and magnetic flux gradients. Additionally, coil length, width, resi...
Identification of a vertical hopping robot model via harmonic transfer functions Uyanik, Ismail; Ankaralı, Mustafa Mert; Cowan, Noah J.; Saranlı, Uluç; Morgul, Omer (2016-05-01) A common approach to understanding and controlling robotic legged locomotion is the construction and analysis of simplified mathematical models that capture essential features of locomotor behaviours. However, the representational power of such simple mathematical models is inevitably limited due to the non-linear and complex nature of biological locomotor systems. Attempting to identify and explicitly incorporate key non-linearities into the model is challenging, increases complexity, and decreases the ana...
Stochastic analysis and adaptive control studies in legged systems Er, Güner Dilşad; Ankaralı, Mustafa Mert; Saranlı, Uluç; Department of Electrical and Electronics Engineering (2022-6-7) Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, the design of stabilizing controllers becomes more challenging due to inaccurate modeling. Suppose physical parameters on mathematical models have miscalibrations due to uncertainty in identifying and modeling processes. In that case, designed controllers could perform poorly or e...

Citation Formats

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.