Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F23%3APU149373" target="_blank" >RIV/00216305:26230/23:PU149373 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/2218-6581/12/2/42" target="_blank" >https://www.mdpi.com/2218-6581/12/2/42</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/robotics12020042" target="_blank" >10.3390/robotics12020042</a>

Result language

angličtina

Original language name

Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain

Original language description

Multi-legged robots, such as hexapods, have great potential to navigate challenging terrain. However, their design and control are usually much more complex and energy-demanding compared to wheeled robots. This paper presents a wheeled six-legged robot with five degrees of freedom, that is able to move on a flat surface using wheels and switch to gait in rugged terrain, which reduces energy consumption. The novel joint configuration mimics the structure of insect limbs and allows our robot to overcome difficult terrain. The wheels reduce energy consumption when moving on flat terrain and the trochanter joint reduces energy consumption when moving on slopes, extending the operating time and range of the robot. The results of experiments on sloping terrain are presented. It was confirmed that the use of the trochanter joint can lead to a reduction in energy consumption when moving in sloping terrain.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

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Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Robotics

ISSN

2218-6581

e-ISSN

—

Volume of the periodical

12

Issue of the periodical within the volume

2

Country of publishing house

CH - SWITZERLAND

Number of pages

15

Pages from-to

1-15

UT code for WoS article

000977517200001

EID of the result in the Scopus database

2-s2.0-85153747034