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Incorporating Passive Compliance for Reduced Motor Loading During Legged Walking

Pabbu, Akhil Sai
http://rave.ohiolink.edu/etdc/view?acc_num=wright1501950536554588

Abstract Details

2017, Master of Science in Electrical Engineering (MSEE), Wright State University, Electrical Engineering.
For purposes of travelling on all-terrains surfaces that are both uneven and discontinuous, legged robots have upper-hand over wheeled and tracked vehicles. The robot used in this thesis is a simulated hexapod with 3 degrees of freedom per leg. The main aim is to reduce the energy consumption of the system during walking by attaching a passive linear spring to each leg which will aid the motors and reduce the torque required while walking. Firstly, the ideal stiffness and location or the coordinates for mounting the spring is found out using gradient based algorithm called `Simultaneous Perturbation and Stochastic Approximation Algorithm’ (SPSA) on a flat terrain using data from a single walking step. Motor load is approximated by computing the torque impulse, which is the summation of the absolute value of the torque output for each joint during walking. Once the ideal spring and mount is found, the motor loading of the robot with the spring attached is observed and compared on three different terrains with the original loading without the spring. The analysis is made on a single middle leg of the robot, which is known to support the highest load when the alternating tripod gait is used. The obtained spring and mounting locations are applied to other legs to compute the overall energy savings of the system. Through this work, the torque impulse was decreased by 14 % on uneven terrain.
Luther Palmer, III., Ph.D. (Advisor)
Zach Fuchs, Ph.D. (Committee Member)
Xiaodong Zhang, Ph.D. (Committee Member)
47 p.
Electrical Engineering; Robotics
Legged robots; Energy optimization in legged robots; Optimization using SPSA; Gradient based optimization; Spring placement on a hexapod; Energy cost; Torque distribution

Recommended Citations

Citations

  • Pabbu, A. S. (2017). Incorporating Passive Compliance for Reduced Motor Loading During Legged Walking [Master's thesis, Wright State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=wright1501950536554588

    APA Style (7th edition)

  • Pabbu, Akhil Sai. Incorporating Passive Compliance for Reduced Motor Loading During Legged Walking. 2017. Wright State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=wright1501950536554588.

    MLA Style (8th edition)

  • Pabbu, Akhil Sai. "Incorporating Passive Compliance for Reduced Motor Loading During Legged Walking." Master's thesis, Wright State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=wright1501950536554588

    Chicago Manual of Style (17th edition)

wright1501950536554588
429
© 2017, some rights reserved.Creative Commons License Incorporating Passive Compliance for Reduced Motor Loading During Legged Walking by Akhil Sai Pabbu is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Wright State University and OhioLINK.