Energy-efficient walking over irregular terrain: a case of hexapod robot

IF 1 4区工程技术 Q4 INSTRUMENTS & INSTRUMENTATION

Metrology and Measurement Systems Pub Date : 2023-07-20 DOI:10.24425/mms.2019.130562

Mindaugas Luneckas, Tomas Luneckas, D. Udris, D. Plonis, R. Maskeliūnas, R. Damaševičius

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引用次数: 7

Abstract

Adaptive locomotion over diﬃcult or irregular terrain is considered as a superiority feature of walking robots over wheeled or tracked machines. However, safe foot positioning, body posture and stability, correct leg trajectory, and eﬃcient path planning are a necessity for legged robots to overcome a variety of possible terrains and obstacles. Without these properties, any walking machine becomes useless. Energy consumption is one of the major problems for robots with a large number of Degrees of Freedom (DoF). When considering apathplanormovementparameterssuchasspeed,steplengthorstepheight,itisimportanttochoosethemost suitablevariablestosustainlongbatterylifeandtoreachtheobjectiveorcompletethetasksuccessfully.We changethesettingsofahexapodrobotlegtrajectoryforovercomingsmallterrainirregularitiesbyoptimizing consumedenergyandlegtrajectoryduringeachlegtransfer.Thetrajectorysettingsareimplementedas apartofhexapodrobotsimulationmodelandtestedthroughseriesofexperimentswithvariousterrains ofdiﬀeringcomplexityandobstaclesofvarioussizes.Ourresultsshowthattheproposedenergy-eﬃcient trajectorytransformationisaneﬀectivemethodforminimizingenergyconsumptionandimprovingoverall performance of a walking robot.

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不规则地形节能行走:以六足机器人为例

在困难或不规则地形上的自适应运动被认为是步行机器人比轮式或履带式机器人的优势特征。然而，安全的足部定位、身体姿势和稳定性、正确的腿部轨迹以及有效的路径规划是腿式机器人克服各种可能的地形和障碍物的必要条件。没有这些特性，任何行走机器都将变得毫无用处。能量消耗是大自由度机器人的主要问题之一。当考虑路径规划或运动参数(如速度、步长、步高)时，重要的是选择最合适的变量来维持较长的电池寿命，并成功地达到目标或完成任务。我们通过优化每次腿部转移过程中消耗的能量和腿部轨迹，改变了六足机器人腿部轨迹的设置，以克服小地形的不规则性。轨迹设置是作为六足机器人仿真模型的一部分实现的，并通过一系列具有不同复杂程度的各种雨和不同大小的障碍物的实验进行了测试。结果表明，所提出的节能轨迹转换是一种有效的方法，可以最大限度地减少步行机器人的能量消耗，提高整体性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Metrology and Measurement Systems INSTRUMENTS & INSTRUMENTATION-

CiteScore

2.00

自引率

10.00%

发文量

审稿时长

6 months

期刊介绍： Contributions are invited on all aspects of the research, development and applications of the measurement science and technology. The list of topics covered includes: theory and general principles of measurement; measurement of physical, chemical and biological quantities; medical measurements; sensors and transducers; measurement data acquisition; measurement signal transmission; processing and data analysis; measurement systems and embedded systems; design, manufacture and evaluation of instruments. The average publication cycle is 6 months.