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General Information
    • ISSN: 1793-8198
    • Frequency: Quarterly
    • DOI: 10.18178/IJMMM
    • Editor-in-Chief: Prof. K. M. Gupta, Prof. Ian McAndrew
    • Executive Editor: Ms. Cherry L. Chen
    • Abstracting/Indexing: EI (INSPEC, IET), Chemical Abstracts Services (CAS), Engineering & Technology Digital Library,  ProQuest, Crossref, Ulrich's Periodicals Directory, DOAJ, and Electronic Journals Library .
    • E-mail ijmmm@ejournal.net
Editor-in-chief
Prof. Ian McAndrew
Embry Riddle Aeronautical University, UK.
It is my honor to be the editor-in-chief of IJMMM. I will do my best to help develop this journal better.

IJMMM 2015 Vol.3(4): 275-281 ISSN: 1793-8198
DOI: 10.7763/IJMMM.2015.V3.210

Inverse Dynamics and Power Consumption Model of Crab Motion of a Realistic Hexapod Robot

Abhijit Mahapatra, Shibendu Shekhar Roy, and Dilip Kumar Pratihar
Abstract—The present paper deals with a detail inverse dynamics and power consumption of a realistic hexapod robot with crab motion. The prescribed motion parameters necessary for the inverse dynamic analysis like displacement, velocity, acceleration of the joints are obtained from the kinematic analysis and motion planning of the hexapod robot. The foot ground interaction is considered as a point contact with zero impact velocity. The solution to the problem is not unique due to a highly redundant robotic system. An energy consumption model has been derived for statically stable wave-crab gaits after considering a minimum of the instantaneous power consumption of the robotic system for optimum feet forces. Minimum of power consumption is considered as the objective function with respect to linear equality and inequality constraints. The simulated results and discussions of the inverse dynamic analysis of the robotic system with crab motion on regular terrain are discussed.

Index Terms—Power consumption, inverse dynamics, hexapod robot, crab motion.

Abhijit Mahapatra is with the Virtual Prototyping & Immersive Visualization Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India (e-mail: abhi_mahapatra@ yahoo.co.in).
Shibendu Shekhar Roy is with the Department of Mechanical Engineering, National Institute of Technology, Durgapur, India (e-mail: ssroy99@yahoo.com).
Dilip Kumar Pratihar is with the Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, India (e-mail: dkpra@mech.iitkgp.ernet.in).

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Cite: Abhijit Mahapatra, Shibendu Shekhar Roy, and Dilip Kumar Pratihar, "Inverse Dynamics and Power Consumption Model of Crab Motion of a Realistic Hexapod Robot," International Journal of Materials, Mechanics and Manufacturing vol. 3, no. 4, pp. 275-281, 2015.

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