Optimization of energy consumption for hexapod robot following inclined path using nontraditional gait

摘要

Recently, improvements of mobile robot machines have gained a great deal of interest because of their usefulness and importance of the actual life. Robotics researcher's focus extends to legged walking robot, that employs a mechanical limb for maneuvers which keeps it easier on rough and irregular terrain than wheeled and tracked machines. Standard Periodic moving gates cannot adjust with such obstacles and hazards. Various types of terrain need specific gait style in order to achieve better performance on locomotion. Throughout this analysis, via the adaptive walking gate, the challenge of performing a predetermined path in the Cartesian environment is constructed. Phantom ll which is a six legged robot is designed and simulated using the Matlab SimMechanicsTM toolbox to determine and calculate the integrated adaptive walking gate and the hexapod robot dynamics. Furthermore, the case study of Phantom ll hexapod is analyzed in the kinematic model which involves of two major types, inverse and forward kinematics for all legs. The robot's performance factor and kinematic constraints are taken into account. The simulation data demonstrated the appropriateness of using the adaptive walking gait. Reducing energy consumption performs an essential function in the multi-legged devices locomotion which utilized for maintenance applications. Detailed dynamic analysis of the power-efficient for hexapod moving machine during navigation across gradient inclined surface is provided.