Abstract
Legged robots have demonstrated significant achievements in recent years. Some legged robots have considerable flexibility and movement abilities. However, certain obstacles restrict the practical application of legged robots, such as their high energy consumption. The energy consumption of a legged robot is significantly higher than that of a wheel robot of the equivalent size for the same walking distance. Reducing the energy consumption of legged robots is important for their practical application and further development. This study proposes a quadratic-programming force-distribution controller, which minimizes the energy consumption of hexapod robots. The controller reduces the energy consumption by optimizing the instantaneous power of the robot at each time step. In a simulation environment, the proposed method reduced the energy consumption by up to 9.43% and 6.30% in flat terrain and sloped terrain, respectively, compared with two other methods. In hexapod robot experiment, the proposed method can reduce energy consumption by 5.72% compared with position control.
Highlights
With the rapid development of mobile robot technology, many types of robots have been produced, including wheeled [1], legged [2]–[4], and tracked [5] robots
The energy optimization algorithm reduces the energy consumption by 6.97% compared with the pseudo inverse dynamics method and 9.43% compared with the torque optimization algorithm
The results show that the energy optimization algorithm can reduce energy consumption by 5.72% compared to position control during the entire walking process
Summary
With the rapid development of mobile robot technology, many types of robots have been produced, including wheeled [1], legged [2]–[4], and tracked [5] robots. The objective of the present study is to design an optimal force controller according to this energy-consumption model. The former is a common method for solving the redundancy problem It has a high calculation speed, and is very suitable for real-time control of legged robots. Hyon et al calculated the external force applied to the body to ensure the dynamic balance of a biped robot called SARCOS [18] They employed the pseudo-inverse method to distribute the desired external force over the contact feet. As the controller calculation speed increases, legged robots increasingly employ optimization algorithms to solve the distribution problem [20]. According to the instantaneous power model, a new inverse-dynamics optimization controller is proposed, which can reduce the energy consumption of hexapod robots by optimizing the instantaneous power. The CoT is useful for comparing the efficiencies of different types of vehicles, and it considers the power consumed per unit mass and unit speed
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