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JRM Vol.29 No.3 pp. 536-545
doi: 10.20965/jrm.2017.p0536
(2017)

Paper:

Analysis of the Energy Loss on Quadruped Robot Having a Flexible Trunk Joint

Masahiro Ikeda and Ikuo Mizuuchi

Tokyo University of Agriculture and Technology
2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, Japan

Received:
December 5, 2016
Accepted:
April 14, 2017
Published:
June 20, 2017
Keywords:
flexible trunk joint, quadruped robot, energy loss
Abstract

Analysis of the Energy Loss on Quadruped Robot Having a Flexible Trunk Joint

Energy flow in legged robot

As a method of robot movement, legs have the advantage of traversability on rough terrain. However, the motion of a legged robot is accompanied by energy loss. The main causes for this loss could be negative work and contact between the legs and ground. On the other hand, animals with legs are considered to reduce energy loss by using the elasticity of their body. In this study, we analyze the influence of walking, using an elastic passive joint mounted on the trunk of a quadruped robot, on the energy loss. Additionally, we study the energy flow between legs and elastic components. In this study, we clarify a control method for quadruped robots in order to reduce the energy loss of walking. The results of simulating a quadruped walking robot, which has passive joints with elastic components on the trunk, are analyzed and the relationship between each kind of energy loss and the trunk joint’s elasticity is clarified.

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Last updated on Nov. 10, 2017