LOCOMOTION COST IN TROTTING GAIT OF FOUR-LEGGED ROBOT

This paper deals with locomotion cost (energy consumption per unit distance) in the trotting gait of our four-legged robot compared to that of horses. First, we designed a new toe with a spring to absorb the impacts at touchdown, which we expect to increase the stability of the robot. We attached the toe to the robot leg and achieved its trotting gait without any support. We measured the locomotion cost in the trotting gait of the robot at several speeds. Based on the results, we found that the locomotion cost decreases when the locomotion speed increases. We concluded that this phenomena is caused by a decrease in the number of steps.