Publication detail

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

ŽÁK, M. ROZMAN, J. ZBOŘIL, F.

Original Title

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

Type

journal article in Web of Science

Language

English

Original Abstract

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.

Keywords

bio-inspired hexapod, six-legged robot, robot energy efficiency

Authors

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.

Released

31. 5. 2023

Publisher

MDPI

ISBN

2218-6581

Periodical

Robotics

Year of study

12

Number

2

State

Swiss Confederation

Pages from

1

Pages to

15

Pages count

15

URL

https://www.mdpi.com/2218-6581/12/2/42

Full text in the Digital Library

http://hdl.handle.net/11012/244717

BibTex

@article{BUT185146,
  author="Marek {Žák} and Jaroslav {Rozman} and František {Zbořil}",
  title="Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain",
  journal="Robotics",
  year="2023",
  volume="12",
  number="2",
  pages="1--15",
  doi="10.3390/robotics12020042",
  issn="2218-6581",
  url="https://www.mdpi.com/2218-6581/12/2/42"
}