Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain
Multi-legged robots, such as hexapods, have great potential to navigate challenging terrain. However, their design and control are usually much more complex and energy-demanding compared to wheeled robots. This paper presents a wheeled six-legged robot with five degrees of freedom, that is able to m...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-03-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/2/42 |
| _version_ | 1797603564028166144 |
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| author | Marek Žák Jaroslav Rozman František V. Zbořil |
| author_facet | Marek Žák Jaroslav Rozman František V. Zbořil |
| author_sort | Marek Žák |
| collection | DOAJ |
| description | Multi-legged robots, such as hexapods, have great potential to navigate challenging terrain. However, their design and control are usually much more complex and energy-demanding compared to wheeled robots. This paper presents a wheeled six-legged robot with five degrees of freedom, that is able to move on a flat surface using wheels and switch to gait in rugged terrain, which reduces energy consumption. The novel joint configuration mimics the structure of insect limbs and allows our robot to overcome difficult terrain. The wheels reduce energy consumption when moving on flat terrain and the trochanter joint reduces energy consumption when moving on slopes, extending the operating time and range of the robot. The results of experiments on sloping terrain are presented. It was confirmed that the use of the trochanter joint can lead to a reduction in energy consumption when moving in sloping terrain. |
| first_indexed | 2024-03-11T04:33:50Z |
| format | Article |
| id | doaj.art-3cf4156fdfa04a79b059d9359bbbff51 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-11T04:33:50Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-3cf4156fdfa04a79b059d9359bbbff512023-11-17T21:14:13ZengMDPI AGRobotics2218-65812023-03-011224210.3390/robotics12020042Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping TerrainMarek Žák0Jaroslav Rozman1František V. Zbořil2Department of Intelligent Systems, Faculty of Information Technology, Brno University of Technology, Božetěchova 2, 612 66 Brno, Czech RepublicDepartment of Intelligent Systems, Faculty of Information Technology, Brno University of Technology, Božetěchova 2, 612 66 Brno, Czech RepublicDepartment of Intelligent Systems, Faculty of Information Technology, Brno University of Technology, Božetěchova 2, 612 66 Brno, Czech RepublicMulti-legged robots, such as hexapods, have great potential to navigate challenging terrain. However, their design and control are usually much more complex and energy-demanding compared to wheeled robots. This paper presents a wheeled six-legged robot with five degrees of freedom, that is able to move on a flat surface using wheels and switch to gait in rugged terrain, which reduces energy consumption. The novel joint configuration mimics the structure of insect limbs and allows our robot to overcome difficult terrain. The wheels reduce energy consumption when moving on flat terrain and the trochanter joint reduces energy consumption when moving on slopes, extending the operating time and range of the robot. The results of experiments on sloping terrain are presented. It was confirmed that the use of the trochanter joint can lead to a reduction in energy consumption when moving in sloping terrain.https://www.mdpi.com/2218-6581/12/2/42bio-inspired hexapodsix-legged robotrobot energy efficiency |
| spellingShingle | Marek Žák Jaroslav Rozman František V. Zbořil Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain Robotics bio-inspired hexapod six-legged robot robot energy efficiency |
| title | Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain |
| title_full | Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain |
| title_fullStr | Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain |
| title_full_unstemmed | Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain |
| title_short | Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain |
| title_sort | energy efficiency of a wheeled bio inspired hexapod walking robot in sloping terrain |
| topic | bio-inspired hexapod six-legged robot robot energy efficiency |
| url | https://www.mdpi.com/2218-6581/12/2/42 |
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