MECHANICAL ENERGY ANALYSIS AND CONTROLS OF A WALKING ROBOT

S Ekinoviü, J Vivancos
2015 Yalcin Journal of Trends in the Development of Machinery and Associated Technology   unpublished
Although walking robots are still at the stage of an experiment and initial development, they have prospective applications in a daily life and numerous special applications, such as search and rescue, military, police and surveillance applications. In such applications when they have to carry their own weight and a source of energy, it becomes essential to reduce the energy consumption. On the one hand, the energy density of the on-board energy source has limitations, such that relative large
more » ... hat relative large mass of battery is required to provide the robot with sufficient energy to carry on a task or a mission. Consequently, one of the heaviest subsystems is the independent energy source. Therefore, large portion of energy consumed by the walker is associated with carrying its own energy source. On the other hand, not only the weight is necessary to be minimized, but also the mass need to be allocated properly across the robot architecture. While the first design requirement is directly related to energy consumed by the robot during each cycle, the second one is related to energy and the robot controller performance. These are the two main design requirements that are addressed in this work for a bipedal robot.
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