Simulation of energy consumption for quadruped walking vehicle

Jingtao Lei; Feng Gao; Guoyan Xu

doi:10.1117/12.718255

30 October 2006 Simulation of energy consumption for quadruped walking vehicle

Jingtao Lei, Feng Gao, Guoyan Xu

Proceedings Volume 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation; 63584Z (2006) https://doi.org/10.1117/12.718255
Event: Sixth International Symposium on Instrumentation and Control Technology, 2006, Beijing, China

Abstract

Simulation of energy consumption for walking vehicle is one of the basic way to preliminarily estimate the energy that will be consumed before constructing the real vehicle, providing basis for the design of vehicle to minish energy consumption. One of the most influential factors of the accuracy dynamic simulation is the appropriate contact model between leg and ground. In this paper, we adopt virtual prototyping technique to develop the dynamic modeling of a quadruped walking vehicle considering contact force between legs and ground during walking, finish simulation of dynamics and obtain dynamics characteristics, investigate the effects of different contact condition and the energy consumption. The purpose is to analyze the relationship between energy consumption and relevant influence factors, and the energy efficiency during walking is discussed with different walking velocity, strokes, duty factors and different contact material. Moreover contact force is obtained from simulations. Commercial ADAMS package is used.

Citation Download Citation

Jingtao Lei, Feng Gao, and Guoyan Xu "Simulation of energy consumption for quadruped walking vehicle", Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 63584Z (30 October 2006); https://doi.org/10.1117/12.718255

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