DocumentCode
323923
Title
Computation of walking robots movement energy expenditure
Author
Zhoga, V.V.
Author_Institution
Dept. of Theor. Mech., Volgograd State Univ.
Volume
1
fYear
1998
fDate
16-20 May 1998
Firstpage
163
Abstract
Methods of computing the energetics of multifeet walking transportation machines with independent carrying drives, adaptation drives, and turn drives have been created. They were compared with power expenditures of wheeled and caterpillar machines. The problem of delivery optimisation of efforts upon the support feet for minimum ground deformation has been solved. The specifications of machine direct and curved movements have been described. The results of computation are presented
Keywords
legged locomotion; minimisation; robot dynamics; robot kinematics; adaptation drives; carrying drives; curved movements; direct movements; minimum ground deformation; movement energy expenditure; multifeet walking transportation machines; power expenditures; turn drives; walking robots; Coils; Engines; Friction; Gears; Kinematics; Legged locomotion; Mobile robots; Stability; Transportation; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.676349
Filename
676349
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