0

Full Content is available to subscribers

Subscribe/Learn More  >

Energy Efficiency of Legged Robot Locomotion With Elastically-Suspended Loads Over a Range of Suspension Stiffnesses

[+] Author Affiliations
Jeffrey Ackerman, Xingye Da, Justin Seipel

Purdue University, West Lafayette, IN

Paper No. DETC2012-71401, pp. 1153-1159; 7 pages
doi:10.1115/DETC2012-71401
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

Elastically suspending a load from humans and animals can increase the energy efficiency of legged locomotion and load carrying. Similarly, elastically-suspended loads have the potential to increase the energy efficiency of legged robot locomotion. External loads and the inherent mass of a legged robot, such as batteries, electronics, and fuel, can be elastically-suspended from the robot chassis with a passive compliant suspension system, reducing the energetic cost of locomotion. In prior work, we developed a simple model to examine the effect of elastically-suspended loads on the energy cost of locomotion from first principles. In this paper, we present experimental results showing the energy cost of locomotion for a simple hexapod robot over a range of suspension stiffness values. Elastically-suspended loads were shown to reduce the energy cost of locomotion by up to 20% versus a rigidly-attached load. We compare the experimental results to the theoretical results predicted by the simple model.

Copyright © 2012 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In