Influence of Gait Trajectory and Parameters on Energy Consumption of Hexapod Robot

摘要

For a long time, the research on the structure design and gait control of the curved leg hexapod robot has been more in-depth, but there is less research on the energy consumption during the movement. At the same distance, legged robots’ energy consumption is significantly higher than that of wheeled robots of the same size, so reducing energy consumption can increase the robot’s endurance. In this paper, for flat terrain, based on dynamic analysis, polynomial, cosine, and trapezoidal velocity motion curves are planned, separately. At the same time, we obtain the motion curves based on the minimum energy consumption optimization. In the experiment and simulation analysis, the influence of gait parameters such as different curve trajectories, support phases, and periods on energy consumption are discussed separately. The simulation and experimental results show that under the same motion period, the larger the support phase angle, the more energy consumption; under the same support phase, the energy consumption first decreases and then increases as the period increases; the energy consumption of the optimized curve is reduced by 22.3%, 29.5%, and 15.3% respectively compared with the energy consumption of the trapezoidal speed movement curve. The results of this paper provide a useful reference for the curved leg hexapod robot in energy-saving motion.