Analysis of wave gaits for energy efficiency

Date

2007-10-01

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

186
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 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 the Robot-EA308 is used as the walking machine. The strategies are justified based on this realistic data. The analysis concludes the following: a phase modified version of wave gaits is 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. A stability analysis is performed for the phase modification of the wave gaits, and the stability loss due to the modification is calculated. It is concluded that the loss in stability is insignificant.

Subject Keywords

Wave gaits, Six-legged robot, Gait, Walking, Locomotion, Energy, Efficiency, Stability

URI

https://hdl.handle.net/11511/48086

Journal

AUTONOMOUS ROBOTS

DOI

https://doi.org/10.1007/s10514-007-9041-z

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Analysis of wave gaits for energy efficiency Erden, Mustafa Suphi; Leblebicioğlu, Mehmet Kemal (2006-01-01) 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 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...
Dynamic gait pattern generation with reinforcement learning Erden, Mustafa Suphi; Leblebicioğlu, Mehmet Kemal (2005-01-01) This paper presents the gait pattern generation work performed for the sixlegged robot EA308 developed in our laboratory. The aim is to achieve a dynamically developing gait pattern generation structure using reinforcement learning. For the six legged robot a simplified simulative model is constructed. The algorithm constructs a radial basis function neural network (RBFNN) to command proper leg configurations to the simulative robot. The weights of the RBFNN are learned using reinforcement learning. The dev...
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...
Optimization of physical parameters of an underactuated quadrupedal robot Karagoz, Osman Kaan; Ankaralı, Mustafa Mert (2018-01-01) In this paper, we present the comparison of different optimization algorithms that are used to optimize the parameters of a simulated legged robotic platform. We compare the results obtained by applying different algorithms on the same model and show the relative advantages and disadvantages of these algorithms. The tested algorithms are Particle Swarm Optimization, Binary Coded Genetic Algorithm, Broyden-Fletcher-Goldfrab-Shannon Algorithm and Method of Zoutendijk. We showed that the globally optimal param...
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,” AUTONOMOUS ROBOTS, pp. 213–230, 2007, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/48086.