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�������պ����ѧѧ�� 2007, Vol. 33 Issue (06) :719-722    DOI:
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Trot gait and energy consumption simulation of a quadruped robot
Gao Feng, Lei Jingtao, Xu Guoyan*
Dept. of Automobile Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� Walking robot carries its own energy source such as battery to walk and finish exploring task, so the research of energy consumption is of great significance. The gait of walking robot has close relationship with energy consumption. Trot gait was adopted to analyze the relationship between energy consumption and relevant influence factors. The characteristics of trot gait and multi-loop serial and parallel mechanism were presented, and Denavit-Hartenberg coordinate method was adopted to express the kinematics equation and Lagrange dynamics equation of quadruped walking robot, then the virtual prototyping technology was used to establish the 3D simulation model considering contact between foots and ground, by which the energy consumption analysis of whole gait cycle and dynamic characteristics were calculated. By using the rate of energy consumption to evaluate energy efficiency of walking robot, the energy consumption during walking was analyzed with different walking stroke and different contact material,and the relationship between the rate of energy consumption and walking velocity was presented. The results can provide basis for the design of the physical prototyping.
Keywords�� walking robot   trot gait   energy consumption   virtual prototyping     
Received 2006-07-14;
About author: �� ��(1955-),��,����������,����,gaof@buaa.edu.cn.
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�߷�, �׾���, �����.���㲽�л��ĶԽ�С�ܲ�̬���ܺķ������[J]  �������պ����ѧѧ��, 2007,V33(06): 719-722
Gao Feng, Lei Jingtao, Xu Guoyan.Trot gait and energy consumption simulation of a quadruped robot[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(06): 719-722
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