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Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control

Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, China
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Appl. Sci. 2019, 9(9), 1771; https://doi.org/10.3390/app9091771
Received: 19 March 2019 / Revised: 23 April 2019 / Accepted: 25 April 2019 / Published: 28 April 2019
(This article belongs to the Special Issue Mobile Robots Navigation)
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Abstract

Energy consumption is an important performance index of quadruped robots. In this paper, the energy consumptions of the quadruped robot SCalf with a trot gait under different gait parameters are analyzed. Firstly, the kinematics and dynamics models of the robot are established. Then, an energy model including the mechanical power and heat rate is proposed. To obtain the energy consumption, a cubic spline interpolation foot trajectory is used, and the feet forces are calculated by using the minimization of norm of the foot force method. Moreover, an energetic criterion measuring the energy cost is defined to evaluate the motion. Finally, the gait parameters such as step height, step length, standing height, gait cycle, and duty cycle that influence the energy consumption are studied, which could provide a theoretical basis for parameter optimization and motion control of quadruped robots. View Full-Text
Keywords: quadruped robot; energy model; foot force distribution; cubic spline interpolation quadruped robot; energy model; foot force distribution; cubic spline interpolation
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Yang, K.; Rong, X.; Zhou, L.; Li, Y. Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control. Appl. Sci. 2019, 9, 1771.

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