抄録
This paper reports a new toe of four-legged robot' legs using a spring and the results of measurement of energy consumption in the trotting gait. It is not easy for our four-legged robot to walk. One of reasons is the impacts at the touch down, which reduces the stability of body posture. Thus, a new toe with a spring was redesigned and built, which would reduce the impact force. We installed the new toes into the robot and succeeded in its trotting gait. We measured the energy cost (energy consumption per unit distance) in trotting gait. As a result, we found that in trotting gait, the energy cost decreased when the locomotion speed increase. We concluded that these phenomena may be caused by decreasing the number of steps, which is caused by increasing step length.
