DocumentCode :
2365636
Title :
Experimental study on energy efficiency for quadruped walking vehicles
Author :
Kurazume, Ryo ; Byong-won, Ahn ; Ohta, Kazuhiko ; Hasegawa, Tsutomu
Author_Institution :
Graduate Sch. of Inf. Sci. & Electr. Eng., Kyushu Univ., Fukuoka, Japan
Volume :
1
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
613
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 quadruped 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 [R. Kurazume et al., 2002] has advantages in view of energy efficiency as compared with the original sway compensation trajectory.
Keywords :
legged locomotion; stability; TITAN-VIII; biped robot; bound gait; crawl gait; dynamically stable gait; energy efficiency; legged robot; quadruped walking vehicles; sway compensation trajectory; trot gait; Automotive engineering; Energy consumption; Energy efficiency; Information science; Land vehicles; Leg; Legged locomotion; Marine vehicles; Mobile robots; Power engineering and energy;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1250697
Filename :
1250697
Link To Document :
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