—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.
—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:
Dilip Kumar Pratihar is with the Department of Mechanical Engineering,
Indian Institute of Technology, Kharagpur, India (e-mail:
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.