Search results

Reducing energy consumption in walking robots is an issue of great importance in field applications such as humanitarian demining so as to increase mission time for a given power supply. The purpose of this paper is to address the problem of improving energy efficiency in statically stable walking machines by comparing two leg, insect and mammal, configurations on the hexapod robotic platform SILO6.

Dynamic simulation of this hexapod is used to develop a set of rules that optimize energy expenditure in both configurations. Later, through a theoretical analysis of energy consumption and experimental measurements in the real platform SILO6, a configuration is chosen.

It is widely accepted that the mammal configuration in statically stable walking machines is better for supporting high loads, while the insect configuration is considered to be better for improving mobility. However, taking into account the leg dynamics and not only the body weight, different results are obtained. In a mammal configuration, supporting body weight accounts for 5 per cent of power consumption while leg dynamics accounts for 31 per cent.

As this paper demonstrates, the energy expended when the robot walks along a straight and horizontal line is the same for both insect and mammal configurations, while power consumption during crab walking in an insect configuration exceeds power consumption in the mammal configuration.

Academic freedom is often constrained by self-censorship. Measurement of this constraint is difficult because it is often unconscious, so it is useful to explore the underlying motivations. Greater-good arguments are an important motivator of self-censorship. Humans are social creatures who fear being accused of harming the greater good. When a scholar’s findings conflict with a paradigm alleged to serve the greater good, self-censorship is tempting. However, the greater good is not necessarily served by paradigms that invoke it. Discrepant data often lead to truths that a dominant paradigm obscures. Thus, the greater good is better served by a free flow of evidence than by conforming to a paradigm that evokes the greater good. This chapter presents an example in the Social Sciences. The paradigm of social harmony in the state of nature appears to serve the greater good, and evidence of aggression in the state of nature is often dismissed. But understanding the conflict in the state of nature can help people manage aggression today. This example can help scholars recognize and transcend the natural tendency to self-censor.