Simulation of Static Interactions of a Leg with a Support for a Walking Robot

Abstract

One of the main limitations when using walking robots is the limited capacity of the power supply. At the design stage of a robot, a detailed analysis of how to reduce energy consumption is required. This requires an analysis of the robot’s energy consumption in static and dynamic operating modes. This article discusses the interaction of the robot’s foot with the support surface in a static mode when the robot is stationary is investigated. The design of the leg of a four-legged walking robot is described. A mathematical model of the robot’s leg is given, which is used to calculate the moments acting on the robot’s leg drives. The data for calculating the static moments of the robot’s drives when the robot is not moving relative to the support surface are presented. Criteria for minimizing the energy consumed by a walking robot in this mode have been obtained. The experiments carried out on the stand with a prototype of a walking robot leg showed a good qualitative agreement between the experimental results and the simulation results. This allows you to significantly reduce the energy consumption of a walking robot in static mode.