Power Consumption Estimation of Biped Robot During Walking

摘要

This paper presents a power estimation platform, based on a multi-domain power consumption system including electrical, mechanical, and coupled electro-mechanical powers for the development of power efficient robots. The platform considers the mutual combination of the multi-physics subsystems, which enables to optimize the total robot-power efficiency. We focus on the joint interactions between electrical and mechanical domains (example: electro-mechanical interaction in a servo motor) and the resulting power loss. As an example, the power dissipation of a biped robot for a gait cycle is estimated. Thus platform usability for developing power efficient humanoid robots is demonstrated.