Gait Parameters Design Method of Trotting Gait Based On Energy Consumption

The energy consumption of different gait parameters in quadrupedal trotting gaits is studied in this paper. A method is developed, which is structured upon the single leg dynamics model and combining the support period and swing period. According to the results of energy analysis, the gait parameter design method with the minimum energy consumption at a given speed is determined. Firstly, a single leg model of a quadruped robot with three degrees of freedom is constructed. Its kinematic and dynamic analysis are carried out. The energy consumption of different gait parameters is calculated through the dynamic model. Then the relationship between energy consumption and gait parameters is obtained. Finally, through the energy graph, the design approach of gait parameters with minimum energy consumption at a given speed is given.