Investigation of energy efficiency of hexapod robot locomotion

Mindaugas Luneckas

Doctoral dissertation

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In this dissertation the issues of walking robots’ energetic efficiency while walk- ing on even and irregular terrain using gait switching and tactile obstacle avoid- ance methods are investigated. The main object of research is methods for walk- ing robot’s locomotion, environment recognition, and obstacle avoidance. The importance of walking robots is their ability to overcome irregular terrain and adaptation to environment. The minimization of energy consumption would im- prove the use of walking robots and extend their working time. The primary purpose of this dissertation is to develop and investigate environment recogni- tion and classificaion methods, energetically efficient locomotion method for walking robots. Walking multilegged robots is a field for applying created meth- ods. The dissertation also focuses on investigating energy consumption depend- ence on obstacle size and density.

The thesis approaches a few major tasks such as gait selection, obstacle detection and avoidance using tactile leg sensors. Second task is related to development of foot trajectory generation and obstacle size and density influence on robot’s energy consumption.

The dissertation consists of introduction, three chapters, general conclusions and references.

The introduction reveals the investigated problem, importance of the thesis and the object of research and describes the purpose and tasks of the thesis, research methodology, scientific novelty, the practical significance of results ex- amined in the paper and defended statements. The introduction ends in present- ing the author’s publications on the subject of the defended dissertation, offering the material of made presentations in conferences and defining the structure of the dissertation.

Chapter 1 revises used literature. Energetic efficiency of mobile robots is discussed along with energy consumption measurement, calculation and optimi- zation methods. At the end of the chapter, conclusions are drawn and the tasks for the dissertation are reconsidered.

Chapter 2 describes the development of energetically efficient methodology for walking robots. Conclusions are presented at the end of the chapter.

Chapters 3 investigates the energy consumption dependence on movement parameters as well as obstacle avoidance.

9 articles focusing on a topic of the dissertation are published: four – in Cla- rivate Analytics Web of Science data base cited journals, three – in Clarivate Analytics Web of Science data base “Conference Proceedings” material and two – in other data bases. 7 conference reports were carried out focusing on a topic of the dissertation in Lithuania and abroad.

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145×205 mm
140 p.
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