ON EVALUATION OF MOTION GAITS ENERGY EFFICIENCY WITH A HEXAPOD CRAWLING ROBOT

Lukáš Černý, Petr Čížek, Jan Faigl

Abstract


In this work, we are concerning the problem of energy efficient locomotion of a hexapod crawling robot. We are emphasizing a practical verification and deployment on a real walking robot to evaluate relations between the energy consumption, motion speed, and terrain type with a particular motion gait. The tripod, tetrapod, and pentapod motion gaits are considered in the presented evaluation report.

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ISSN 2336-5382 (Online)
Published by the Czech Technical University in Prague