Walking machines for exploration - optimizing the energy spendings

The studies of energy consumption during tripod gait of six-legged walking machines are presented. The method used for energy evaluation is outlined and the results are presented. The energy consumption during support phase, which is the most demanding phase, is analyzed. The energy consumption is expressed in the normalized form, depending on the normalized leg proportions, body height and step length. The aim of the studies is to deliver the designers the information about favorable leg proportions from the point of view of energy consumption and to illustrate how the leg posture influences the energy demand.