Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/30310
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dc.contributor.authorRoca, Joan-
dc.contributor.authorBobi Juvillar, Manuel Pedro-
dc.contributor.authorCelaya, Enric-
dc.contributor.authorCardona Foix, Salvador-
dc.date.accessioned2010-12-17T07:13:13Z-
dc.date.available2010-12-17T07:13:13Z-
dc.date.issued2006-
dc.identifier.citation9th International Conference on Climbing and Walking Robots: pp. 129-136 (2006)-
dc.identifier.isbn0000143991-
dc.identifier.urihttp://hdl.handle.net/10261/30310-
dc.descriptionInternational Conference on Climbing and Walking Robots (CLAWAR), 2006, Bruselas (Bélgica)-
dc.description.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.-
dc.description.sponsorshipThis work was supported by the project 'Sistema reconfigurable para la navegación basada en visión de robots caminantes y rodantes en entornos naturales.' (00).-
dc.language.isoeng-
dc.publisherEmerald Group Publishing-
dc.rightsopenAccess-
dc.subjectWalking robot-
dc.subjectActuator-
dc.subjectEnergy consumption-
dc.subjectAutomation: Robots: Mobile robots-
dc.subjectMobile robots-
dc.titleComparison of reversible and irreversible actuators for statically stable walking robots from the point of view of the energy consumption-
dc.typecomunicación de congreso-
dc.description.peerreviewedPeer Reviewed-
dc.type.coarhttp://purl.org/coar/resource_type/c_5794es_ES
item.openairetypecomunicación de congreso-
item.fulltextWith Fulltext-
item.grantfulltextopen-
item.languageiso639-1en-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
Appears in Collections:(IRII) Comunicaciones congresos
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