Analysis of wave gaits for energy efficiency

Erden M. S., Leblebicioglu K.

IEEE 14th Signal Processing and Communications Applications, Antalya, Turkey, 16 - 19 April 2006, pp.575-578 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu.2006.1659772
  • City: Antalya
  • Country: Turkey
  • Page Numbers: pp.575-578
  • Middle East Technical University Affiliated: Yes


In this paper an energy efficiency analysis of wave gaits is performed for a six-legged walking robot. A simulation model of the robot is used to obtain the data demonstrating the energy consumption of the robot while walking in different modes and with varying parameters. Based on the analysis of this data some strategies are derived in order to minimize the search effort for determining the parameters of the gaits for an energy efficient walk. The analysis concludes the following: a phase modified version of the wave gaits are more efficient than the (conventional) wave gaits; using the possible minimum protraction time results in more energy efficient gaits; and higher velocity results in less energy consumption per traveled distance.