Modeling and simulation of a six-legged walking robot power system

Abstract

Reliable models and simulation enhance design and optimization capabilities considerably for complex systems. This study is concerned with such issues for a six-legged rough terrain walking vehicle power system that includes the associated control systems. The power system of the vehicle can be divided into three broad categories: leg systems, mechanical transmission system, and the primary power source and energy storage system. Modeling techniques, detailed analytical models, and a comprehensive nonlinear digital simulation are developed for precise performance predictions, interaction studies, parametric studies, and to aid in the mechanical and control design process. Validation of the models is provided by several experiments performed on a prototype leg and the vehicle. The models and simulatian predictions have resulted in a significant improvement in vehicle performance.