POWER MODELING OF THE XRL HEXAPEDAL ROBOT AND ITS APPLICATION TO ENERGY EFFICIENT MOTION PLANNING

摘要

Analysis of the power consumption for walking and running robots is par-ticularly important for trajectory planning tasks as it enables motion plans that minimize energy consumption and do not violate power limitations of the robot actuators. This paper builds upon previous work on wheeled skid-steered robots, and for curvilinear motion of the XRL hexapedal robot, presents mod-els of the inner and outer side torques and power requirements. In addition, the applicability of the power model to energy efficient motion planning is illustrated for a walking gait on a vinyl surface.