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Title: Hexapod Robot Gait Switching for Energy Consumption and Cost of Transport Management Using Heuristic Algorithms
Authors: Luneckas, Mindaugas
Luneckas, Tomas
Kriaučiūnas, Jonas
Udris, Dainius
Plonis, Darius
Damaševičius, Robertas
Maskeliūnas, Rytis
Keywords: hexapod robot
path planning
energy consumption
cost of transport
heuristic optimization
Issue Date: 2021
Publisher: MDPI
Citation: Luneckas, M.; Luneckas, T.; Kriaučiūnas, J.; Udris, D.; Plonis, D.; Damaševičius, R.; Maskeliūnas, R. Hexapod Robot Gait Switching for Energy Consumption and Cost of Transport Management Using Heuristic Algorithms. Appl. Sci. 2021, 11, 1339. https://doi.org/10.3390/app11031339
Series/Report no.: 11;3
Abstract: Due to the prospect of using walking robots in an impassable environment for tracked or wheeled vehicles, walking locomotion is one of the most remarkable accomplishments in robotic history. Walking robots, however, are still being deeply researched and created. Locomotion over irregular terrain and energy consumption are among the major problems. Walking robots require many actuators to cross different terrains, leading to substantial consumption of energy. A robot must be carefully designed to solve this problem, and movement parameters must be correctly chosen. We present a minimization of the hexapod robot’s energy consumption in this paper. Secondly, we investigate the reliance on power consumption in robot movement speed and gaits along with the Cost of Transport (CoT). To perform optimization of the hexapod robot energy consumption, we propose two algorithms. The heuristic algorithm performs gait switching based on the current speed of the robot to ensure minimum energy consumption. The Red Fox Optimization (RFO) algorithm performs a nature-inspired search of robot gait variable space to minimize CoT as a target function. The algorithms are tested to assess the efficiency of the hexapod robot walking through real-life experiments. We show that it is possible to save approximately 7.7–21% by choosing proper gaits at certain speeds. Finally, we demonstrate that our hexapod robot is one of the most energy-efficient hexapods by comparing the CoT values of various walking robots.
Description: This article belongs to the Special Issue Modelling and Control of Mechatronic and Robotic Systems
URI: http://dspace.vgtu.lt/handle/1/4194
ISSN: 2076-3417
Appears in Collections:Moksliniai straipsniai / Research articles

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