Energy consumption is one of the important evaluating indicators for walking robots. In this paper, the kinematics modeling of quadruped robot with trot gait was analyzed firstly. And then the dynamics modeling was analyzed, which considering periodic contact force between foots and ground during walking, and considering the elastic elements. Finally, the total energy consumption of walking robot during whole gait cycle was derived based on the dynamic model. The specific resistance was proposed to evaluate energy efficiency of quadruped robot with trot gait, and the relationship between specific resistance and gait parameters was presented, which will be used to analyze the energy efficiency and influencing factors, and then determine the reasonable gait parameters.


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    Title :

    Energy Consumption Analysis of Quadruped Robot with Trot Gait



    Published in:

    Applied Mechanics and Materials ; 271-272 ; 1531-1535


    Publication date :

    2012-12-27


    Size :

    5 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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