Abstract
The energy consumption status of underwater hexapod robot has reference significance for long-time operation, energy power system design and global path planning. The purpose of this paper is to analyze the motion energy consumption of the underwater hexapod robot walking in the seabed environment. Based on the principle of kinematics, a typical gait is designed for the hexapod robot proposed in this paper, and a detailed dynamic model of the underwater hexapod robot in underwater motion is attempted to be established. Therefore, a foot force distribution method is proposed and combined with the dynamics model, and the energy consumption model of the robot in this gait is deduced and constructed, with the mobile energy consumption rate as the evaluation index. The effects of different water flow velocity, adjusting gait parameters and changing rotation angular velocity on the energy consumption of the robot are studied. Finally, the simulation results and low-energy motion are given to illustrate the effectiveness of the above methods, which provides the basis for the design of physical prototype and energy based path planning.
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Acknowledgment
This work was supported by the Liaoning Province youth top talent project [Grant No. XLYC1807174] and the Independent projects of the State Key Laboratory [Grant No. 2019-Z08].
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Ma, X., Zhang, Q., Sun, Y., Wang, N. (2021). Research and Analysis on Energy Consumption of Underwater Hexapod Robot Based on Typical Gait. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_2
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DOI: https://doi.org/10.1007/978-3-030-89134-3_2
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