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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

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

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název periodika

Robotics

ISSN

2218-6581

e-ISSN

—

Svazek periodika

12

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

15

Strana od-do

1-15

Kód UT WoS článku

000977517200001

EID výsledku v databázi Scopus

2-s2.0-85153747034