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Title

Comparison of reversible and irreversible actuators for statically stable walking robots from the point of view of the energy consumption

AuthorsRoca, Joan; Bobi Juvillar, Manuel Pedro; Celaya, Enric CSIC ; Cardona Foix, Salvador
KeywordsWalking robot
Actuator
Energy consumption
Automation: Robots: Mobile robots
Mobile robots
Issue Date2006
PublisherEmerald Group Publishing
Citation9th International Conference on Climbing and Walking Robots: pp. 129-136 (2006)
AbstractThis paper presents the energetic analysis corresponding to different designs of driving system for joint actuation in a statically stable hexapod robot. Inertia of rotating parts in the actuator, and the friction between moving parts have an important influence on the power consumption. Special attention is made to the influence of the reversibility or irreversibility of the transmission on the global energy balance. Leg mechanisms simulation has been carried out using a commercial CAD-CAE software in order to obtain joint actuator requirements during operation. Two cases are studied: walking on a horizontal ground and standing still. Friction and rotational inertia models are defined for every actuator component. Finally, actuators models are used to simulate their operation in order to estimate the transmitted power between actuator components. The main result is the estimated electrical energy consumption per cycle of each actuator altermative.
DescriptionInternational Conference on Climbing and Walking Robots (CLAWAR), 2006, Bruselas (Bélgica)
URIhttp://hdl.handle.net/10261/30310
ISBN0000143991
Appears in Collections:(IRII) Comunicaciones congresos

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