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Energy Consumption of Trotting Gait for a Quadruped Robot

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Mechanism and Machine Science (ASIAN MMS 2016, CCMMS 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 408))

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Abstract

Battery driven robots have many advantages over combustion robots. They are clean, quiet, and can work in the airless or flammable environment. However, the limitation of the battery endurance is a great challenge. In order to increase the working hours of the battery driven quadruped robot, the energy expenditure of trotting gait under different gait parameters is studied. Firstly, the kinematic model of the quadruped robot and its gait planning method are introduced. Secondly, the dynamic model of the leg and the robot body are presented and the energy expenditures in the stance phase and the swing phase during trotting are analyzed. It can be proved that for any given trotting speed, the combination of the stride frequency and the stride length has great influence on the energy expenditure. Finally, experiments are presented to validate of the theory. The results show that by properly choosing the gait parameters the energy expenditure in trotting can be efficiently reduced.

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Acknowledgment

Feng Gao supported by National Basic Research Program of China (973 Program, Grant No. 2013CB035501).

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Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China

    Xianbao Chen, Feng Gao, Chenkun Qi & Lin Wei

Authors
  1. Xianbao Chen
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  2. Feng Gao
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  3. Chenkun Qi
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  4. Lin Wei
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Corresponding author

Correspondence to Feng Gao .

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Editors and Affiliations

  1. South China University of Technology , Guangzhou, China

    Xianmin Zhang

  2. South China University of Technology , Guangzhou, China

    Nianfeng Wang

  3. South China University of Technology , Guangzhou, China

    Yanjiang Huang

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Chen, X., Gao, F., Qi, C., Wei, L. (2017). Energy Consumption of Trotting Gait for a Quadruped Robot. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_25

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  • DOI: https://doi.org/10.1007/978-981-10-2875-5_25

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2874-8

  • Online ISBN: 978-981-10-2875-5

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