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- Title
ŠEŠIAKOJO ROBOTO ENERGIJOS SĄNAUDŲ PRIKLAUSOMYBĖS NUO SKIRTINGŲ EISENŲ IR GREIČIO JUDANT LYGIU PAVIRŠIUMI TYRIMAS.
- Authors
Luneckas, Mindaugas; Luneckas, Tomas
- Abstract
Evaluation of robotic energetics while moving on rough terrain becomes a difficult task without having the information about the movement on even terrain. The problem appears in selection of gaits depending on how much power robot consumes. In this paper, energy consumption of a hexapod walking robot dependence on different gaits and speed is observed. Three most common gaits were used in this experiment: tripod gait, bipod gait and wave gait. Results clearly show that while moving at slow speed, the least energy is consumed by wave gait. As the speed increases, bipod gait selection is required to lower energy consumption. Finally, tripod gait must be selected at even higher speed.
- Subjects
ENERGY consumption; SPEED of motor vehicles; ALL terrain vehicles; ROBOT motion; WALKING; SCIENTIFIC observation
- Publication
Science: Future of Lithuania / Mokslas: Lietuvos Ateitis, 2014, Vol 6, Issue 2, p194
- ISSN
2029-2341
- Publication type
Article
- DOI
10.3846/mla.2014.28