Dynamic modeling of energy efficient hexapod robot's locomotion over gradient terrains

Abstract

The minimization of power consumption plays a key role in the locomotion of an autonomous multi-legged robot used for service purpose. This paper presents a detailed dynamic modeling of energy efficient hexapod walking robot during locomotion over gradient terrain. A power consumption model is derived for statically stable wave gaits by considering a minimization of dissipating power for optimal foot force distribution. Two approaches have been developed, such as minimization of norm of foot forces and minimization of norm of joint torques using least squared method. Results of these two approaches have been compared with those of some published literature. The variations of average power consumption and energy per weight per traveled length with the angle of slope and velocity have been compared for the ascending and descending gait generations of the robot. © 2010 Springer-Verlag.