Energy-efficient narrow wall climbing of six-legged robot
| Autor: | Kenichi Ohara, Takeshi Toda, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
Limb mechanism
Narrow space 3D locomotion Technology Mechanical engineering and machinery TJ1-1570 Control engineering systems. Automatic machinery (General) TJ212-225 Machine design and drawing TJ227-240 Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Automation T59.5 Information technology T58.5-58.64 |
| Zdroj: | ROBOMECH Journal, Vol 5, Iss 1, Pp 1-10 (2018) |
| Druh dokumentu: | article |
| ISSN: | 2197-4225 |
| DOI: | 10.1186/s40648-018-0121-y |
| Popis: | Abstract In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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