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Energetic analysis and experiments of earthworm-like locomotion with compliant surfaces

机译：具有顺应性表面的类-运动的能量分析和实验

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The energy consumption of worm robots is composed of three parts: heat losses in the motors, internal friction losses of the worm device and mechanical energy locomotion requirements which we refer to as the cost of transport (COT). The COT, which is the main focus of this paper, is composed of work against two types of external factors: (i) the resisting forces, such as weight, tether force, or fluid drag for robots navigating inside wet environments and (ii) sliding friction forces that may result from sliding either forward or backward. In a previous work, we determined the mechanical energy requirement of worm robot locomotion over compliant surfaces, independently of the efficiency of the worm device. Analytical results were obtained by summing up the external work done on the robot and alternatively, by integrating the actuator forces over the actuator motions. In this paper, we present experimental results for an earthworm robot fitted with compliant contacts and these are post-processed to estimate the energy expenditure of the device. The results show that due to compliance, the COT of our device is increased by up to four-fold compared to theoretical predictions for rigid-contact worm-like locomotion.
机译：蜗杆机器人的能耗由三部分组成：电动机中的热量损失，蜗杆装置的内部摩擦损失以及机械能移动要求，我们将其称为运输成本（COT）。 COT是本文的重点，它是针对两种外部因素进行的工作：（i）机器人在潮湿环境中航行时的阻力，例如重量，系绳力或流体阻力，以及（ii）向前或向后滑动可能产生的滑动摩擦力。在先前的工作中，我们确定了蜗杆机器人在顺应性表面上运动的机械能需求，而与蜗杆装置的效率无关。通过总结在机器人上完成的外部工作，或者通过对执行器运动上的执行器力进行积分，来获得分析结果。在本文中，我们介绍了装有顺应触头的worm机器人的实验结果，并对这些结果进行了后处理以估算设备的能量消耗。结果表明，由于合规性，与刚性接触式蠕虫状运动的理论预测相比，我们设备的COT最多增加了四倍。

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