scholarly journals Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

2021 ◽  
Author(s):  
Hong-Chao Zhuang ◽  
Ning Wang ◽  
Hai-Bo Gao ◽  
Zong-Quan Deng
Keyword(s):  
Power Consumption ◽  
Body Height ◽  
Load Ratio ◽  
Legged Robots ◽  
Duty Ratio ◽  
Legged Robot ◽  
Mobile System ◽  
Large Load ◽  
Average Power Consumption ◽  
Tripod Gait

Abstract To research the power consumption characteristics of mobile system of an electrically driven large-load-ratio six-legged robot with engineering capability is beneficial to speed up it toward practicability. Based on the configuration and walking modes of robot, the mathematical model of the power consumption of mobile system is set up. In view of the tripod gait is often selected for the six-legged robots, the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot's statically indeterminate problem and constructing the equal force distribution. Then, the power consumption of robot mobile system is solved under different working conditions. The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint, body height, and span. The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption. According to the walking experiments of prototype, the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in the duty ratio, body height, and span. Then, the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system. The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

scholarly journals Generation of Inverted Locomotion Gait for Multi-Legged Robots Using a Spherical Magnet Joint and Adjustable Sleeve

2021 ◽  
Author(s):  
Harn Sison ◽  
Photchara Ratsamee ◽  
Manabu Higashida ◽  
Yuki Uranashi ◽  
Takemura Haruo
Keyword(s):  
Reaction Force ◽  
Steel Structures ◽  
Quadruped Robot ◽  
Legged Robots ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Foot Placement ◽  
Predominant Type ◽  
Different Types ◽  
Tripod Gait

Abstract In this paper, we propose a design and an implementation of spherical magnet joint (SMJ) - based gait generation for inverted locomotion of multi-legged robots. A spherical permanent magnet is selected to generate a consistent attractive force for the robot to perform inverted locomotion under steel structures. Additionally, the tip of the robot's foot is designed as a ball-joint mechanism to give flexibility to the foot placement at any angle between the tip and surfaces. We also propose an adjustable sleeve mechanism to detach the tip of the foot during locomotion by creating a fulcrum point during the tilt and pull step. As a result, the reaction force can be reduced according to sleeve diameter. Experimental results show that the presented load decreased by 46% from direct pulling with the adjustable sleeve mechanism. For inverted locomotion, a quadruped robot and a hexapod robot were constructed to represent the predominant type of multi-legged robot. We integrated the SMJ and the adjustable sleeve on both robots and performed the inverted locomotion with a crawling gait, a trotting gait, a square gait, and a tripod gait. Our analysis demonstrates the characteristics of each gait in terms of velocity, stability, guaranteeing the versatility of our proposed SMJ, which can be applied to different types of legged robots.

scholarly journals Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot

2017 ◽  
Vol 7 (3) ◽  
pp. 296 ◽  
Author(s):  
Hong-Chao Zhuang ◽  
Hai-Bo Gao ◽  
Zong-Quan Deng
Keyword(s):  
Load Ratio ◽  
Legged Robot ◽  
Gait Planning ◽  
Large Load

scholarly journals A Novel Cross-Latch Shift Register Scheme for Low Power Applications

2020 ◽  
Vol 11 (1) ◽  
pp. 129
Author(s):  
Po-Yu Kuo ◽  
Ming-Hwa Sheu ◽  
Chang-Ming Tsai ◽  
Ming-Yan Tsai ◽  
Jin-Fa Lin
Keyword(s):  
Power Consumption ◽  
Supply Voltage ◽  
Electrical Power ◽  
Average Power ◽  
Leakage Power ◽  
Shift Register ◽  
Cmos Process ◽  
Average Power Consumption ◽  
Simulation Results ◽  
Layout Area

The conventional shift register consists of master and slave (MS) latches with each latch receiving the data from the previous stage. Therefore, the same data are stored in two latches separately. It leads to consuming more electrical power and occupying more layout area, which is not satisfactory to most circuit designers. To solve this issue, a novel cross-latch shift register (CLSR) scheme is proposed. It significantly reduced the number of transistors needed for a 256-bit shifter register by 48.33% as compared with the conventional MS latch design. To further verify its functions, this CLSR was implemented by using TSMC 40 nm CMOS process standard technology. The simulation results reveal that the proposed CLSR reduced the average power consumption by 36%, cut the leakage power by 60.53%, and eliminated layout area by 34.76% at a supply voltage of 0.9 V with an operating frequency of 250 MHz, as compared with the MS latch.

scholarly journals Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

2016 ◽  
Vol 113 (8) ◽  
pp. E950-E957 ◽  
Author(s):  
Kaushik Jayaram ◽  
Robert J. Full
Keyword(s):  
Body Weight ◽  
High Speed ◽  
Stride Length ◽  
Body Height ◽  
Legged Robot ◽  
Confined Space ◽  
Performance Limits ◽  
Biological Inspiration ◽  
Confined Spaces ◽  
Postural Changes

Jointed exoskeletons permit rapid appendage-driven locomotion but retain the soft-bodied, shape-changing ability to explore confined environments. We challenged cockroaches with horizontal crevices smaller than a quarter of their standing body height. Cockroaches rapidly traversed crevices in 300–800 ms by compressing their body 40–60%. High-speed videography revealed crevice negotiation to be a complex, discontinuous maneuver. After traversing horizontal crevices to enter a vertically confined space, cockroaches crawled at velocities approaching 60 cm⋅s−1, despite body compression and postural changes. Running velocity, stride length, and stride period only decreased at the smallest crevice height (4 mm), whereas slipping and the probability of zigzag paths increased. To explain confined-space running performance limits, we altered ceiling and ground friction. Increased ceiling friction decreased velocity by decreasing stride length and increasing slipping. Increased ground friction resulted in velocity and stride length attaining a maximum at intermediate friction levels. These data support a model of an unexplored mode of locomotion—“body-friction legged crawling” with body drag, friction-dominated leg thrust, but no media flow as in air, water, or sand. To define the limits of body compression in confined spaces, we conducted dynamic compressive cycle tests on living animals. Exoskeletal strength allowed cockroaches to withstand forces 300 times body weight when traversing the smallest crevices and up to nearly 900 times body weight without injury. Cockroach exoskeletons provided biological inspiration for the manufacture of an origami-style, soft, legged robot that can locomote rapidly in both open and confined spaces.

scholarly journals Gait Programming for Multi-Legged Robot Climbing on Walls and Ceilings

2000 ◽  
Author(s):  
Jinwu Qian ◽  
Zhenbang Gong ◽  
Qixian Zhang
Keyword(s):  
Legged Robots ◽  
Legged Robot ◽  
Vertical Walls

Abstract Wall-climbing gait programming is one of the basic issues for the multi-legged robot working on vertical walls and ceilings. In this paper, the authors propose geometric measurements related to support patterns to describe the overturn-resistance capability for multi-legged robots climbing on vertical walls and on ceilings. Employing optimization approaches, optimal regular periodic wall gaits are computed for a six-legged robot climbing vertically or horizontally, and optimal ceiling gaits are also obtained. Comparisons are made for crab-type and insect-type leg-stroke layouts.

scholarly journals Research on Beauty Medical Health Monitoring System Based on Wireless Sensor Network

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Xinwen Bi ◽  
Shaocheng Song ◽  
Haoyang Wang ◽  
Yingjian Shao ◽  
Xiaodan Zhang ◽  
...  
Keyword(s):  
Power Consumption ◽  
Monitoring System ◽  
Health Monitoring ◽  
Wireless Transmission ◽  
Wireless Sensor ◽  
Transmission Protocol ◽  
Gradual Improvement ◽  
Health Monitoring System ◽  
Average Power Consumption ◽  
Medical Health

Due to the gradual improvement of living standards in recent years and the continuous improvement of China’s health care awareness, the aesthetic medicine model has gradually changed from the treatment mode of disease treatment to the prevention mode of early detection and early treatment. Meanwhile, wireless sensor networks (WSNs) are gradually infiltrating into the medical field due to their low power consumption, small size, wireless transmission, and portability which complies with the needs of the development of medical models. Therefore, this paper studies and implements a beauty medical health monitoring system based on WSN and ZigBee short-range wireless transmission protocol; moreover, wireless power transfer (WPT) technology is used for charging sensors. Experimental results demonstrate the feasibility that the maximum power levels converted in sensors by the WPT for different ISM bands can meet the average power consumption expected in the range of 200–500 μW. And the designed system can provide an important practical reference for promoting the informationization of telemedicine and the development of beauty medical systems in China.

Designing of Low-Power High-Speed Noise Immune CNTFET 1-Trit Unbalanced Ternary Subtractor

2021 ◽  
Author(s):  
Yogesh Shrivastava ◽  
Tarun Kumar Gupta
Keyword(s):  
Power Consumption ◽  
High Speed ◽  
Noise Analysis ◽  
Average Power ◽  
Noise Margin ◽  
Average Power Consumption ◽  
Effect Transistor ◽  
Power Delay Product ◽  
Static Noise ◽  
Made In

Ternary logic has been demonstrated as a superior contrasting option to binary logic. This paper presents a ternary subtractor circuit in which the input signal is converted into binary. The proposed design is implemented using Carbon Nanotube Field Effect Transistor (CNTFET), a forefront innovation. A correlation has been made in the proposed design on parameters like Power-Delay Product (PDP), Energy Delay Product (EDP), average power consumption, delay and static noise margin. Every one of these parameters is obtained by simulating the circuits on the HSPICE simulator. The proposed design indicates an improvement of 60.14%, 59.34%, 74.98% and 84.28%, respectively, in power consumption, delay, PDP and EDP individually in correlation with recent designs. The increased carbon nanotubes least affect the proposed subtractor design. In noise analysis, the proposed design outperformed all the existing designs.

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