Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control
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...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-04-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/9/9/1771 |
| _version_ | 1811276016923967488 |
|---|---|
| author | Kun Yang Xuewen Rong Lelai Zhou Yibin Li |
| author_facet | Kun Yang Xuewen Rong Lelai Zhou Yibin Li |
| author_sort | Kun Yang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-12T23:48:58Z |
| format | Article |
| id | doaj.art-5e77be95a0cb45dabf16b81cb6bb7516 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-04-12T23:48:58Z |
| publishDate | 2019-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-5e77be95a0cb45dabf16b81cb6bb75162022-12-22T03:11:45ZengMDPI AGApplied Sciences2076-34172019-04-0199177110.3390/app9091771app9091771Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion ControlKun Yang0Xuewen Rong1Lelai Zhou2Yibin Li3Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, ChinaCenter for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, ChinaCenter for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, ChinaCenter for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, ChinaEnergy 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.https://www.mdpi.com/2076-3417/9/9/1771quadruped robotenergy modelfoot force distributioncubic spline interpolation |
| spellingShingle | Kun Yang Xuewen Rong Lelai Zhou Yibin Li Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control Applied Sciences quadruped robot energy model foot force distribution cubic spline interpolation |
| title | Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control |
| title_full | Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control |
| title_fullStr | Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control |
| title_full_unstemmed | Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control |
| title_short | Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control |
| title_sort | modeling and analysis on energy consumption of hydraulic quadruped robot for optimal trot motion control |
| topic | quadruped robot energy model foot force distribution cubic spline interpolation |
| url | https://www.mdpi.com/2076-3417/9/9/1771 |
| work_keys_str_mv | AT kunyang modelingandanalysisonenergyconsumptionofhydraulicquadrupedrobotforoptimaltrotmotioncontrol AT xuewenrong modelingandanalysisonenergyconsumptionofhydraulicquadrupedrobotforoptimaltrotmotioncontrol AT lelaizhou modelingandanalysisonenergyconsumptionofhydraulicquadrupedrobotforoptimaltrotmotioncontrol AT yibinli modelingandanalysisonenergyconsumptionofhydraulicquadrupedrobotforoptimaltrotmotioncontrol |