Computation of walking robots movement energy expenditure

摘要

Methods of computing the energetics of multifeet walking transportation machines with independent carrying drives, adaptation drives, and turn drives have been created. They were compared with power expenditures of wheeled and caterpillar machines. The problem of delivery optimisation of efforts upon the support feet for minimum ground deformation has been solved. The specifications of machine direct and curved movements have been described. The results of computation are presented.