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. © 2001 John Wiley & Sons, Inc.