Experimental Study on Energy Efficiency for Quadruped Walking Vehicles

Ryo Kurazume, Ahn Byong-Won, Kazuhiko Ohta, Tsutomu Hasegawa

研究成果: 会議への寄与タイプ学会誌査読

18 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ613-618
ページ数6
出版ステータス出版済み - 2003
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, 米国
継続期間: 10月 27 200310月 31 2003

その他

その他2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域米国
CityLas Vegas, NV
Period10/27/0310/31/03

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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