Detail publikačního výsledku

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

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.

Originální název

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

Anglický název

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

Druh

Článek WoS

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.

Anglický 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

Klíčová slova v angličtině

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

Autoři

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.

Rok RIV

2024

Vydáno

31.05.2023

Nakladatel

MDPI

ISSN

2218-6581

Periodikum

Robotics

Svazek

12

Číslo

2

Stát

Švýcarská konfederace

Strany od

1

Strany do

15

Strany počet

15

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",
  url="https://www.mdpi.com/2218-6581/12/2/42"
}

Dokumenty

robotics-12-00042