The energy consumption analysis of hydraulic quadruped robot based on gait parameters

• Published in: 2015 34th Chinese Control Conference (CCC) pp. 5891 - 5895
• Main Authors: Xiaoyan, Zong, Shoukun, Wang, Junzheng, Wang, Guangrong, Chen, Xiaoling, Zhang
• Format: Conference Proceeding Journal Article
• Language: English
• Published: Technical Committee on Control Theory, Chinese Association of Automation 01.07.2015
• Subjects: Center of mass; Computational fluid dynamics; Cycle ratio; Dynamics; Energy consumption; Fluid flow; Foot; Force; Gait; Gait parameters; Hydraulic quadruped robot; Hydraulics; Kinematics; Legged locomotion; Mathematical models; Robots; Springs
• ISSN: 2161-2927; 1934-1768
• DOI: 10.1109/ChiCC.2015.7260562

The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.