Full paper Minimizing Energy Consumption in Hexapod Robots

P. Gonzalez de Santos et al. / Advanced Robotics 23 (2009) 681–704 703Finally, the Jacobian matrix is:( −Sθ1 (a 3 C(θ 2 + θ 3 ) + a 2 Cθ 2 + a 1 )J = Cθ 1 (a 3 C(θ 2 + θ 3 ) + a 2 Cθ 2 + a 1 )0−Cθ 1 (a 3 S(θ 2 + θ 3 ) + a 2 Sθ 2 ))−a 3 Cθ 1 S(θ 2 + θ 3 )−Sθ 1 (a 3 S(θ 2 + θ 3 ) + a 2 Sθ 2 ) −a 3 Sθ 1 S(θ 2 + θ 3 ) . (A.6)a 3 C(θ 2 + θ 3 ) + a 2 Cθ 2 a 3 C(θ 2 + θ 3 )Joint reference frames and leg parameters are defined in Fig. A.1. Link lengthvalues, a i , are indicated in Table 1.About the AuthorsPabloGonzalezdeSantosis a research scientist at the Spanish National ResearchCouncil (CSIC). He received his PhD degree from the University of Valladolid,Spain. Since 1981, he has been involved actively in the design and developmentof industrial robots and also in special robotic systems. His work during last 15years has been focused on walking machines. He worked on the AMBLER projectas a Visiting Scientist at the Robotics Institute of Carnegie Mellon University.Since then, he has been leading the development of several walking robots suchas the RIMHO robot designed for intervention on hazardous environments, theROWER walking machine developed for welding tasks in ship erection processes, and the SILO-4walking robot intended for educational and basic research purposes. He is now leading the DYLEMAproject, which includes the construction of the SILO-6 walking robot, to study how to apply walkingmachines to the field of humanitarian demining. He has published 45 articles in scientific journals andone textbook on quadrupedal locomotion.Elena Garcia is a Researcher at the Spanish National Research Council (CSIC).She received the BE and PhD degrees from the Universidad Politécnica de Madrid,in 1996 and 2002, respectively. She has been a Visiting Student at the MassachusettsInstitute of Technology, in 1998, and at the Laboratoire d’Automatiquede Grenoble, in 2001. She has participated in various research projects on fieldand service legged robots like ROWER, a walking platform for ship building,SILO-4, a four-legged locomotion system used as a testbed in most of her work,and DYLEMA, a project aimed at using walking robots for antipersonnel mine detectionand location. Her research topics include dynamic stability of walking robots, gait adaptationto environmental disturbances, active compliance in walking robots and design of large specific-poweractuators. She has published 20 articles in SCI scientific journals, 25 conference proceedings and onescientific book.Roberto Ponticelli is a PhD student at the Complutense University, Madrid,Spain. He received his Electronic Engineer degree from the Simon Bolivar University,Caracas, Venezuela, in 1998, and since then he has been involved in thedesign and development of animatronics robots and industrial automation systems.Since 2003, he has been collaborating with the Automatic Control Department ofthe Institute of Industrial Automation of the Spanish National Research Council(DCA-IAI-CSIC), and he is now participating in the DYLEMA project, thatincludes the construction of the SILO-6 walking robot, to study how to applywalking machines to the field of humanitarian demining.