Abstract
The goal of this study is to reveal the relationship between gait and energy consumption of four legged robot. We built a small and lightweight four-legged robot with a simple mechanism to measure the energy consumption in walking and trotting gait. Each leg has one actuator, and motor drivers are mounted on the robot. The current and voltage in the motors were calculated from the signals of the motor drivers and from their rotating velocity, respectively. The power consumption can be calculated from them. In the experiments, we used three kinds of foot trajectories. The foot trajectory can be changed by changing the link length of the drive mechanism slightly. Also, we changed time for one stride. In this paper, we describe the mechanism of the robot and experimental result on the relationship between power consumption, gaits, and its speed.
