Proceedings of the KSME Conference (대한기계학회:학술대회논문집)

The Korean Society of Mechanical Engineers (대한기계학회)
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The Energy Efficiency of Walking Method for Quadruped Walking Robot

4 족 보행로봇의 보행방법에 대한 에너지효율

  • 신창록 (한양대학교 대학원 기계공학과) ;
  • 김장섭 (한양대학교 대학원 기계공학과) ;
  • 박종현 (한양대학교 기계공학부) ;
  • 유홍희 (한양대학교 기계공학부)
  • Published : 2008.11.05
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Abstract

In this paper, the dependency of energy efficiency on the walking/running pattern and the walking/running period is analyzed though simulations of walk, trot and gallop. A quadruped animal has its own original features in the walking pattern and the walking period for adaptation to the environment. The robot model used in the simulations has three active joints and one passive spring-loaded joint at each leg, which is based on the actual quadruped robot, HUNTER (Hanyang UNiversity TEtrapod Robot), developed in the lab. Also included is the dependency of energy efficiency on the walking period in trot.

Keywords