The invention provides a motion planning method for decreasing power and traffic consumption of a hydraulic-driven six-foot robot, relates to the field of motion planning of foot type robots, and aims at solving the problem of large power and flow demand of the six-foot robot under the existing motion planning method. The motion planning method comprises the steps of 1, determining the position constraint and speed constraint of the foot ends in the marching direction of the six-foot robot; 2, planning the motion track of the foot ends in a supporting phase according to the motion requirement of the six-foot robot and the constraint conditions determined in step 1; 3, planning the motion track of the foot ends in a swinging phase according to the motion requirement of the six-foot robot and the constraint conditions determined instep 1. With the adoption of the method, the power and the traffic consumption of the hydraulic-driven six-foot robot can be decreased, the size and weight of the whole six-foot robot can be decreased, and therefore, the energy utilization rate of the six-foot robot can be increased.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Motion planning method for decreasing power and traffic consumption of hydraulic-driven six-foot robot


    Beteiligte:
    GAO HAIBO (Autor:in) / DING LIANG (Autor:in) / LIU YIQUN (Autor:in) / YU HAITAO (Autor:in) / DENG ZONGQUAN (Autor:in) / LIU ZHEN (Autor:in) / LI NAN (Autor:in)

    Erscheinungsdatum :

    2015-04-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Electro-hydraulic hybrid driven motion mode reconfigurable foot type robot

    CHENG LIBO / XIE ANHUAN / ZHANG DAN et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Foot type motion gait planning method for four-wheel-foot robot and four-wheel-foot robot

    LUO XIN / XU ZHANHAO / CHEN JUNJIE et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Decreasing autonomous vehicle power consumption

    POEPPEL SCOTT C / LETWIN NICHOLAS G / KELLY SEAN J | Europäisches Patentamt | 2019

    Freier Zugriff

    DECREASING VEHICLE POWER CONSUMPTION

    POEPPEL SCOTT C / LETWIN NICHOLAS G / KELLY SEAN J | Europäisches Patentamt | 2018

    Freier Zugriff

    Foot lifting gait planning method of foot type robot, controller and foot type robot

    MENG JIAN / DONG XU / XIAO PENG et al. | Europäisches Patentamt | 2022

    Freier Zugriff