Analyzing energy-efficient configurations in hexapod robots for demining applications

Sanz Merodio, Daniel; García Armada, Elena y González de Santos, Pablo (2012). Analyzing energy-efficient configurations in hexapod robots for demining applications. "Industrial Robot: An International Journal", v. 39 (n. 4); pp. 357-364. ISSN 0143-991X. https://doi.org/10.1108/01439911211227926.

Descripción

Título: Analyzing energy-efficient configurations in hexapod robots for demining applications
Autor/es:
  • Sanz Merodio, Daniel
  • García Armada, Elena
  • González de Santos, Pablo
Tipo de Documento: Artículo
Título de Revista/Publicación: Industrial Robot: An International Journal
Fecha: 2012
Volumen: 39
Materias:
Palabras Clave Informales: s Robots, Energy consumption, Design, Energy efficiency, Hexapod robots, Insect and mammal configurations, Humanitarian demining
Escuela: Centro de Automática y Robótica (CAR) UPM-CSIC
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

Purpose – Reducing energy consumption in walking robots is an issue of great importance in field applications such as humanitarian demining so as to increase mission time for a given power supply. The purpose of this paper is to address the problem of improving energy efficiency in statically stable walking machines by comparing two leg, insect and mammal, configurations on the hexapod robotic platform SILO6. Design/methodology/approach – Dynamic simulation of this hexapod is used to develop a set of rules that optimize energy expenditure in both configurations. Later, through a theoretical analysis of energy consumption and experimental measurements in the real platform SILO6, a configuration is chosen. Findings – It is widely accepted that the mammal configuration in statically stable walking machines is better for supporting high loads, while the insect configuration is considered to be better for improving mobility. However, taking into account the leg dynamics and not only the body weight, different results are obtained. In a mammal configuration, supporting body weight accounts for 5 per cent of power consumption while leg dynamics accounts for 31 per cent. Originality/value – As this paper demonstrates, the energy expended when the robot walks along a straight and horizontal line is the same for both insect and mammal configurations, while power consumption during crab walking in an insect configuration exceeds power consumption in the mammal configuration.

Más información

ID de Registro: 21261
Identificador DC: http://oa.upm.es/21261/
Identificador OAI: oai:oa.upm.es:21261
Identificador DOI: 10.1108/01439911211227926
URL Oficial: http://www.emeraldinsight.com/journals.htm?articleid=17036985
Depositado por: Memoria Investigacion
Depositado el: 06 Nov 2013 17:32
Ultima Modificación: 21 Abr 2016 11:25
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