Minimum energy force distribution for a walking robot

Here, the foot force distribution for a six-legged walking machine is resolved for minimum energy consumption over a full cycle for regular wave gaits. Some insects utilize horizontal foot forces to reduce muscle forces and energy consumption [R. J. Full, R. Blickhan, and L. H. Ting, J. Exp. Biology 158 (1991), 369–390]. Foot force distribution for minimum energy consumption when applied to the walking machine, also supports this observation. In this study, geometric work loss for a walking machine with articulated legs is minimized by controlling interaction forces at the foot-ground interface. Minimum energy foot forces are studied for various duty factors, lateral offsets, link proportions, and friction between foot and ground.