Planning and Analysis of Centroid Fluctuation Gait for Hydraulic Hexapod Robot[−2pt

Junkui Dong,Shuo Zhai,Bo Jin,Yilu Cheng,Ziqi Liu

doi:10.1109/access.2021.3072986

Junkui Dong, Shuo Zhai + Show 3 more

Open Access

https://doi.org/10.1109/access.2021.3072986

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Abstract

Energy consumption is an important comprehensive index of the hydraulic hexapod robot (HHR). In this paper, the kinematics model and the hydraulic system energy consumption model of HHR are established. In order to reduce the energy consumption, a centroid fluctuation gait that adds the movement of the centroid in the vertical direction is proposed. Then the gait parameters such as step length, gait cycle, average centroid height, centroid fluctuation height, and phase that influence the energy consumption are studied which could provide a theoretical basis for parameter optimization. In the same gait parameters, compared with using constant height gait, the energy consumption of HHR using centroid fluctuation gait is generally reduced, and the maximum energy saving can be more than 10%. Finally, a virtual prototype is used to verify the effectiveness of the proposed methods.

Highlights

In the past decades, bionic robots have gradually become a research hotspot
We focus on centroid fluctuation gait which is based on tripod gait
THE EFFECTS OF GAIT PARAMETERS ON ENERGY CONSUMPTION According to the hydraulic system energy consumption model and trajectory planning, which are introduced in the previous sections, the average power of the hydraulic system in one gait cycle can be obtained

Summary

INTRODUCTION

Bionic robots have gradually become a research hotspot. Compared with wheeled and tracked robots, legged robots have obvious advantages in non-structured environments, and they are often used in mountainous areas, fields, and other non-structured natural environments. In order to achieve the constant velocity of the HHR body, the constraints of the trajectory planning in the normal directions are defined as. Where ZG is the value in the normal direction of the global coordinate system {G}; ZLi is the value in the normal direction of the leg coordinate system {Li}; Combining (14), (15) and (16), the foot trajectory in the normal direction for the swing phase and stance phase can be written as (17) and (18). In the X-direction, both of the two trajectories are the same

THE ENERGY CONSUMPTION ANALYSIS

THE EFFECTS OF GAIT PARAMETERS ON ENERGY CONSUMPTION

VIRTUAL PROTOTYPE SIMULATION

Findings

CONCLUSION