Joint Space Reference Trajectory to Reduce the Energy Consumption of a Six-Legged Mobile Robot

Alexey Bodrov; Wei Cheah; Peter Green; Simon Watson; Judith Apsley

doi:10.1109/IWED.2018.8321378

Joint Space Reference Trajectory to Reduce the Energy Consumption of a Six-Legged Mobile Robot

Alexey Bodrov, Wei Cheah, Peter Green, Simon Watson, Judith Apsley

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Abstract

Energy consumption minimization is an essential issue for the mobile robots directly affecting their autonomy. This is particularly important for legged robots, which are less efficient than wheeled robots, but are more suitable for locomotion across irregular and inclined terrain. In this paper a novel strategy to control the legged mobile robot with reduced energy consumption is presented. It is based on reference trajectory optimization for each joint/actuator. Experimental results show the 23.6% energy consumption reduction compared to the conventional control approach.

Original language	English
Title of host publication	2018 25th International Workshop on Electric Drives:
DOIs	https://doi.org/10.1109/IWED.2018.8321378
Publication status	Published - 2018

Keywords

legged mobile robots
energy consumption
DC actuators
joint torques

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/IWED.2018.8321378

Joint space reference trajectory_final_open_accessAccepted author manuscript, 739 KB

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title = "Joint Space Reference Trajectory to Reduce the Energy Consumption of a Six-Legged Mobile Robot",

abstract = "Energy consumption minimization is an essential issue for the mobile robots directly affecting their autonomy. This is particularly important for legged robots, which are less efficient than wheeled robots, but are more suitable for locomotion across irregular and inclined terrain. In this paper a novel strategy to control the legged mobile robot with reduced energy consumption is presented. It is based on reference trajectory optimization for each joint/actuator. Experimental results show the 23.6% energy consumption reduction compared to the conventional control approach.",

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language = "English",

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AU - Cheah, Wei

AU - Green, Peter

AU - Watson, Simon

AU - Apsley, Judith

PY - 2018

Y1 - 2018

N2 - Energy consumption minimization is an essential issue for the mobile robots directly affecting their autonomy. This is particularly important for legged robots, which are less efficient than wheeled robots, but are more suitable for locomotion across irregular and inclined terrain. In this paper a novel strategy to control the legged mobile robot with reduced energy consumption is presented. It is based on reference trajectory optimization for each joint/actuator. Experimental results show the 23.6% energy consumption reduction compared to the conventional control approach.

AB - Energy consumption minimization is an essential issue for the mobile robots directly affecting their autonomy. This is particularly important for legged robots, which are less efficient than wheeled robots, but are more suitable for locomotion across irregular and inclined terrain. In this paper a novel strategy to control the legged mobile robot with reduced energy consumption is presented. It is based on reference trajectory optimization for each joint/actuator. Experimental results show the 23.6% energy consumption reduction compared to the conventional control approach.

KW - legged mobile robots

KW - energy consumption

KW - DC actuators

KW - joint torques

U2 - 10.1109/IWED.2018.8321378

DO - 10.1109/IWED.2018.8321378

M3 - Conference contribution

BT - 2018 25th International Workshop on Electric Drives:

ER -

Joint Space Reference Trajectory to Reduce the Energy Consumption of a Six-Legged Mobile Robot

Abstract

Keywords

UN SDGs

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