Research and Analysis on Energy Consumption of Underwater Hexapod Robot Based on Typical Gait
文献类型：会议论文
| 作者 | Ma XF(马秀峰)1,4,5,6; Zhang QF(张奇峰)1,4,5 ; Sun YZ(孙英哲)1,3,4,5; Wang N(王宁)1,2,4,5
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| 出版日期 | 2021 |
| 会议日期 | October 22-25, 2021 |
| 会议地点 | Yantai, China |
| 关键词 | Dynamics Energy consumption Foot force distribution Gait Underwater hexapod robot |
| 页码 | 14-24 |
| 英文摘要 | The energy consumption status of underwater hexapod robot has reference significance for long-time operation, energy power system design and global path planning. The purpose of this paper is to analyze the motion energy consumption of the underwater hexapod robot walking in the seabed environment. Based on the principle of kinematics, a typical gait is designed for the hexapod robot proposed in this paper, and a detailed dynamic model of the underwater hexapod robot in underwater motion is attempted to be established. Therefore, a foot force distribution method is proposed and combined with the dynamics model, and the energy consumption model of the robot in this gait is deduced and constructed, with the mobile energy consumption rate as the evaluation index. The effects of different water flow velocity, adjusting gait parameters and changing rotation angular velocity on the energy consumption of the robot are studied. Finally, the simulation results and low-energy motion are given to illustrate the effectiveness of the above methods, which provides the basis for the design of physical prototype and energy based path planning. © 2021, Springer Nature Switzerland AG. |
| 产权排序 | 1 |
| 会议录 | 2021 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021
 |
| 会议录出版者 | Springer Science and Business Media Deutschland GmbH |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-89097-1 |
| WOS记录号 | WOS:000725410600002 |
| 源URL | [http://ir.sia.cn/handle/173321/29861]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 沈阳自动化研究所_海洋信息技术装备中心 |
| 通讯作者 | Zhang QF(张奇峰) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China 2.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, China 3.University of Chinese Academy of Sciences, Beijing, 100049, China 4.Key Laboratory of Marine Robotics, Liaoning Province, Shenyang, 110169, China 5.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China 6.College of Information Science and Engineering, Northeastern University, Shenyang, 110819, China |
| 推荐引用方式 GB/T 7714 | Ma XF,Zhang QF,Sun YZ,et al. Research and Analysis on Energy Consumption of Underwater Hexapod Robot Based on Typical Gait[C]. 见:. Yantai, China. October 22-25, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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