基于坡度与朝向预测四足机器人能耗，提升户外续航能力。
Energy Prediction on Sloping Ground for Quadruped Robots
- 仅用标准传感器构建能耗模型，无需特殊设备。
- 实测显示能耗随坡度近线性增长，侧向成本更高。
- 适用于路径级能耗预测，适合机器人规划使用。
腿式机器人在户外环境中面临能源管理的根本挑战，续航能力直接影响任务成败，高效资源利用则可降低生态影响。本文研究地形坡度与行进方向对四足机器人能耗的影响。提出一种仅依赖标准机载传感器的简单能耗模型，无需专用仪器，适用于此前未探索的环境。模型通过商用四足机器人实地运行数据识别，以坡度角和朝向为变量，表达为紧凑函数形式。自然地形验证表明，力等效能耗随坡度角呈近线性增长，横向能耗始终更高，且轨迹各段能耗具有可加性，支持路径级能耗预测，可用于规划导向评估。
原文摘要 · Abstract (English)
Energy management is a fundamental challenge for legged robots in outdoor environments. Endurance directly constrains mission success, while efficient resource use reduces ecological impact. This paper investigates how terrain slope and heading orientation influence the energetic cost of quadruped locomotion. We introduce a simple energy model that relies solely on standard onboard sensors, avoids specialized instrumentation, and remains applicable in previously unexplored environments. The model is identified from field runs on a commercial quadruped and expressed as a compact function of slope angle and heading. Field validation on natural terrain shows near-linear trends of force-equivalent cost with slope angle, consistently higher lateral costs, and additive behavior across trajectory segments, supporting path-level energy prediction for planning-oriented evaluation.
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