Gait planning for energy efficiency in walking machines

This paper addresses the problem of achieving energy efficiency in statically stable walking machines without mechanically constraining the system. In contrast to previous work, power is minimized over an entire locomotion cycle, through optimal selection of walking parameters, rather than for a fixed instant of time only. Dynamic simulation experiments of a hexapod with full three degree-of-freedom legs are used to develop a set of 5 rules for setting velocity, footholds, body height, duty factor, and stroke to achieve maximum energy efficiency. Optimization of walking parameters alone was found to reduce power consumption by up to 50% over a reasonable first set of parameters. The rules presented may be used as the basis for development of energy-efficient behaviors or other intelligent control schemes for walking machines.