Experimental Study on Energy Efficiency for Quadruped Walking Vehicles

Ryo Kurazume, Ahn Byong-Won, Kazuhiko Ohta, Tsutomu Hasegawa

Research output: Contribution to conferencePaper

14 Citations (Scopus)

Abstract

Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable gait, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, the energy efficiency of the dynamically stable gait is generally lower than the efficiency of the stable gait such as a crawl gait. In this paper, we present an experimental study on the energy efficiency of a quaduped walking vehicle. Energy consumption of two walking patterns for a trot gait is investigated through experiments using a quadruped walking vehicle named TITAN-VIII. The obtained results show that the 3D sway compensation trajectory proposed in our previous paper [10] has advantages in view of energy efficiency as compared with the original sway compensation trajectory.

Original languageEnglish
Pages613-618
Number of pages6
Publication statusPublished - Dec 26 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

Fingerprint

Energy efficiency
Robots
Trajectories
Energy utilization
Experiments
Compensation and Redress

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Kurazume, R., Byong-Won, A., Ohta, K., & Hasegawa, T. (2003). Experimental Study on Energy Efficiency for Quadruped Walking Vehicles. 613-618. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.

Experimental Study on Energy Efficiency for Quadruped Walking Vehicles. / Kurazume, Ryo; Byong-Won, Ahn; Ohta, Kazuhiko; Hasegawa, Tsutomu.

2003. 613-618 Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.

Research output: Contribution to conferencePaper

Kurazume, R, Byong-Won, A, Ohta, K & Hasegawa, T 2003, 'Experimental Study on Energy Efficiency for Quadruped Walking Vehicles' Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 10/27/03 - 10/31/03, pp. 613-618.
Kurazume R, Byong-Won A, Ohta K, Hasegawa T. Experimental Study on Energy Efficiency for Quadruped Walking Vehicles. 2003. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.
Kurazume, Ryo ; Byong-Won, Ahn ; Ohta, Kazuhiko ; Hasegawa, Tsutomu. / Experimental Study on Energy Efficiency for Quadruped Walking Vehicles. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.6 p.
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