Abstract
Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable gait, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, the energy efficiency of the dynamically stable gait is generally lower than the efficiency of the stable gait such as a crawl gait. In this paper, we present an experimental study on the energy efficiency of a quaduped walking vehicle. Energy consumption of two walking patterns for a trot gait is investigated through experiments using a quadruped walking vehicle named TITAN-VIII. The obtained results show that the 3D sway compensation trajectory proposed in our previous paper [10] has advantages in view of energy efficiency as compared with the original sway compensation trajectory.
| Original language | English |
|---|---|
| Pages | 613-618 |
| Number of pages | 6 |
| Publication status | Published - 2003 |
| Event | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: Oct 27 2003 → Oct 31 2003 |
Other
| Other | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | United States |
| City | Las Vegas, NV |
| Period | 10/27/03 → 10/31/03 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
