Energetics of level walking trot gaits in quadruped robots

Krishna, P M and R, Prasanth Kumar and Srivastava, S (2012) Energetics of level walking trot gaits in quadruped robots. In: IEEE International Conference on Robotics and Biomimetics, 11-14 December, 2012, Guangzhou; China.

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In this paper we investigate the energetics of level walking trot gaits in quadruped robots with asymmetric body-mass distribution. Two cases of level trotting are considered: constant speed, and deceleration-Acceleration with constant average speed. In both the cases, the specific resistance is found to be independent of mass distribution. For the same step length, the mechanical cost of transport in constant speed case increases initially with decrease in walking height and then decreases, whereas in deceleration-Acceleration case, it increases monotonously with the decrease in height. We also discuss quasi-passive trotting for reduced energetic costs for these two cases.

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IITH Creators:
IITH CreatorsORCiD
R, Prasanth KumarUNSPECIFIED
Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Average speed; Constant speed; Energetic costs; Level walking; Mass distribution; Quadruped Robots; Specific resistances; Step length
Subjects: Others > Robotics
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Divisions: Department of Mechanical & Aerospace Engineering
Depositing User: Team Library
Date Deposited: 30 Oct 2014 07:23
Last Modified: 05 Jan 2016 11:54
URI: http://raiith.iith.ac.in/id/eprint/543
Publisher URL: http://dx.doi.org/10.1109/ROBIO.2012.6490944
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