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Detail publikace
ŽÁK, M. ROZMAN, J. ZBOŘIL, F.
Originální název
Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain
Typ
článek v časopise ve Web of Science, Jimp
Jazyk
angličtina
Originální abstrakt
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.
Klíčová slova
bio-inspired hexapod, six-legged robot, robot energy efficiency
Autoři
ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.
Vydáno
31. 5. 2023
Nakladatel
MDPI
ISSN
2218-6581
Periodikum
Robotics
Ročník
12
Číslo
2
Stát
Švýcarská konfederace
Strany od
1
Strany do
15
Strany počet
URL
https://www.mdpi.com/2218-6581/12/2/42
Plný text v Digitální knihovně
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" }