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Incorporating Passive Compliance For Reduced Motor Loading During Legged Walking, Akhil Sai Pabbu
Incorporating Passive Compliance For Reduced Motor Loading During Legged Walking, Akhil Sai Pabbu
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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 …
An Optimization Strategy For Hexapod Gait Transition, Naga Harika Darbha
An Optimization Strategy For Hexapod Gait Transition, Naga Harika Darbha
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Legged robots often need to move through different terrains as they function. This requires a change of gaits by the robot in order to move with better efficiency. There has been a lot of research done to find out which gait works better for a given terrain so that the robot can change its gait accordingly. A reliable analysis of when exactly should the transition take place in a walking robot is important, so that there can be an assurance of stability in the locomotion of the robot during the transition between different gaits. This work presents analysis performed on …