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Article Dans Une Revue Computer Methods in Biomechanics and Biomedical Engineering Année : 2022

A methodology to estimate the cost of transport of a hexapod robot based on single leg performance

Résumé

In this methodological work, we introduce a new approach to evaluate the electric power consumption of a legged robot, by analyzing a single leg power consumption on a dedicated test bench, which doesn’t require any dynamic model of the robot and takes account of the non-linearities of the mechanism. The main idea is to split the measured data in two sets: energy consumption during the propulsion stroke (stance), and energy consumption during the leg return stroke (swing). This approach will be helpful to design and fabricate a low power consumption robotic leg and to evaluate the benefits with respect to a conventional leg design.
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2022-Brodoline et al- A methodology to estimate the cost of transport of a hexapod robot based on single leg peformance - Proc 47ème congès SB - Monastir 26-28 Oct -Computer Methods in Biomechanics and Biomedical pp S32-S33 (1).pdf (431.68 Ko) Télécharger le fichier
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Dates et versions

hal-03840277 , version 1 (10-11-2022)

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Ilya Brodoline, Stéphane Viollet, Julien R. Serres. A methodology to estimate the cost of transport of a hexapod robot based on single leg performance. Computer Methods in Biomechanics and Biomedical Engineering, 2022, ABSTRACTS 47th congress of the Society of Biomechanics, 25 (sup1), pp.S41-S42. ⟨10.1080/10255842.2022.2116885⟩. ⟨hal-03840277⟩
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