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Aaron Johnson

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Power Modeling of the XRL Hexapedal Robot and its Application to Energy Efficient Motion Planning

Proceedings of the International Conference on Climbing and Walking Robots, July, 2012

C. Ordonez*, N. Gupta*, E. G. Collins*, J. Clark*, and Aaron M. Johnson
*: Florida A&M University-Florida State University
†: University of Pennsylvania
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Abstract
      Analysis of the power consumption for walking and running robots is particularly important for trajectory planning tasks as it enables motion plans that minimize energy consumption and do not violate power limitations of the robot actuators. This paper builds upon previous work on wheeled skid-steered robots, and for curvilinear motion of the XRL hexapedal robot, presents models of the inner and outer side torques and power requirements. In addition, the applicability of the power model to energy efficient motion planning is illustrated for a walking gait on a vinyl surface.
This work was supported by the collaborative participation in the Robotics Consortium sponsored by the U.S. Army Research Laboratory under the Collaborative Technology Alliance Program, Cooperative Agreement DAAD 19–01–2−0012.
BibTeX entry
@inproceedings{paper:ordonez_clawar_2012,
  Author = {C. Ordonez and N. Gupta and E. G. Collins and J. Clark and A. M. Johnson},
  booktitle={Proceedings of the International Conference on Climbing and Walking Robots},
  title = {Power Modeling of the {XRL} Hexapedal Robot and its Application to Energy Efficient Motion Planning},
  year = {2012},
  month = {July},
  address = {Baltimore, Maryland, USA},
  pages = {689--696}
}

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