article

Analysis of wave gaits for energy efficiency

Authors:

Mustafa Suphi Erden,

Kemal LeblebicioğluAuthors Info & Claims

Autonomous Robots, Volume 23, Issue 3

Pages 213 - 230

https://doi.org/10.1007/s10514-007-9041-z

Published: 01 October 2007 Publication History

Abstract

In this paper an energy efficiency analysis of wave gaits is performed for a six-legged walking robot. A simulation model of the robot is used to obtain the data demonstrating the energy consumption while walking in different modes and with varying parameters. Based on the analysis of this data some strategies are derived in order to minimize the search effort for determining the parameters of the gaits for an energy efficient walk. Then, similar data is obtained from an actual experimental setup, in which the Robot-EA308 is used as the walking machine. The strategies are justified based on this realistic data. The analysis concludes the following: a phase modified version of wave gaits is more efficient than the (conventional) wave gaits, using the possible minimum protraction time results in more energy efficient gaits and higher velocity results in less energy consumption per traveled distance. A stability analysis is performed for the phase modification of the wave gaits, and the stability loss due to the modification is calculated. It is concluded that the loss in stability is insignificant.

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Cited By

Zielinska T(2017)Minimizing Energy Cost in Multi-Legged Walking MachinesJournal of Intelligent and Robotic Systems10.1007/s10846-016-0398-085:3-4(431-447)Online publication date: 1-Mar-2017
https://dl.acm.org/doi/10.1007/s10846-016-0398-0
Erden MLeblebicioğlu K(2008)Free gait generation with reinforcement learning for a six-legged robotRobotics and Autonomous Systems10.1016/j.robot.2007.08.00156:3(199-212)Online publication date: 1-Mar-2008
https://dl.acm.org/doi/10.1016/j.robot.2007.08.001

Index Terms

Analysis of wave gaits for energy efficiency
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence

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cover image Autonomous Robots

Autonomous Robots Volume 23, Issue 3

October 2007

85 pages

ISSN:0929-5593

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Copyright © Copyright © 2007 Springer Science+Business Media, LLC.

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Kluwer Academic Publishers

United States

Publication History

Published: 01 October 2007

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Cited By

Zielinska T(2017)Minimizing Energy Cost in Multi-Legged Walking MachinesJournal of Intelligent and Robotic Systems10.1007/s10846-016-0398-085:3-4(431-447)Online publication date: 1-Mar-2017
https://dl.acm.org/doi/10.1007/s10846-016-0398-0
Erden MLeblebicioğlu K(2008)Free gait generation with reinforcement learning for a six-legged robotRobotics and Autonomous Systems10.1016/j.robot.2007.08.00156:3(199-212)Online publication date: 1-Mar-2008
https://dl.acm.org/doi/10.1016/j.robot.2007.08.001

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