Design and Motion Guidelines for Quadrupedal Locomotion of Maximum Speed or Efficiency with Serial and Parallel Legs

Konstantinos Machairas,Evangelos Papadopoulos,Konstantinos Machairas,Evangelos Papadopoulos

Analytical expressions are derived for actuator demands in quadrupedal locomotion of constant speed and height by using a reduction from a trot/ pace 6-bar model to a single-legged model and employing two widely used two-segmented leg architectures, the serial and the parallel. A method is developed that outputs optimal gait characteristics and leg designs for a robot to move with maximum efficien...