Dynamic modeling and energy consumption analysis of crab walking of a six-legged robot

Shibendu Shekhar Roy, Dilip Kumar Pratihar
2011 2011 IEEE Conference on Technologies for Practical Robot Applications  
Introduction and Objective of the Work The superior terrain adaptability and maneuverability characteristics of multi-legged robots compared to wheeled or tracked vehicles for off-road locomotion motivated the development of six-legged walking robots [1]. Six-legged robot might be used for locating and disarming bombs, extinguishing fires, underground mining to recover natural resources, explorations of ocean floors and planets, and others, where a human cannot sustain or which would be
more » ... ch would be dangerous for him/her. However, with today's technologies, the legged systems have the disadvantages of pay load to weight ratio, and poor energy efficiency. An autonomous walking robot cannot function satisfactorily with a poor energy efficiency, due to the fact that it has to carry all driving and control units in addition to payload and trunk body. Long duration missions are also subjected to power supply constraints. The minimization of energy consumption plays a key role in the design of an autonomous multi-legged robot. Various approaches are available in the literature to obtain energy-efficient gaits of multi-legged robots [2] [3] [4] [5] [6] [7] [8] . The previous work focused on walking along straight-forward path only. Moreover, most of the studies on walking robot dynamics were conducted with simplified models of legs and body. But, in order to have a better understanding of its walking, dynamics and other important issues of walking, such as dynamic stability, energy efficiency and its on-line control; kinematics and dynamic models based on a realistic walking robot design are necessary to build. During locomotion of a multi-legged robot on flat terrain, different types of gaits, namely straight forward gait, crab gaits and turning gaits etc. have to be used to avoid obstacles in its path. Out of many possible gait patterns, the present study concentrates on dynamic modeling and energy efficiency analysis of crab gaits, as crab walking is very important to an omni-directional locomotion. To the best of the authors' knowledge, no significant study has been reported on dynamic modeling and energy efficiency analysis of crab walking of a realistic six-legged robot.
doi:10.1109/tepra.2011.5753486 fatcat:al5wamoqxnfchj3en5dh2vu7hi