# Research on Low Energy Consumption Static Postures of Bionic Feet
## 7 Conclusions  
In this paper, a hexapod robot with low-speed motion and the relationship between postures and energy consumption were studied. Through theoretical analysis and experimental research, the following conclusions are drawn. (1) An analysis method for low-energy postures in the static state was proposed. The research showed that there was a clear correspondence between robot postures and energy consumption. The method could be applied to a multi-legged robot, and the static energy posture was adjusted to reduce the energy consumption of the robot in a non-moving state. (2) The low-energy postures in the static state were obtained by the proposed energy consumption model, and the trajectory design was established by comprehensively considering the motion characteristics of the robot from the static state to the motion state. Using the maximum step size target, by obtaining the postures constraint equation, the constraints of increasing the postures of the robot further restricted the movable range of the joints of the robot legs, thereby obtaining an effective low-energy posture. (3) A robot model was established, and an experimental prototype was developed. The static postures were solved by the proposed method. The effectiveness of the method was verified by simulations and experiments with the physical prototype. Experiments showed that the proposed \begin{table}
\begin{tabular}{c c c} \hline \hline
**Robot Standing Posture Number** & **Average System Total Torque [N.m]** & **Average Standing Time [h]** \\ \hline
1 & 28 & 1.5 \\
2 & 35.4 & 1.3 \\
3 & 37.8 & 1.18 \\
4 & 39 & 1.01 \\
5 & 39.5 & 0.95 \\
6 & 42.55 & 0.86 \\
7 & 44.6 & 0.65 \\
8 & 51.2 & 0.52 \\
9 & 29.5 & 1.42 \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Data of Figure 16.  
Figure 16: Energy consumption with different robot postures with consideration of energy consumption and maximum step length. method could achieve the goal of reducing energy consumption and increasing endurance time while ensuring the flexibility of the robot. (4) The focus of this paper was to discuss the relationship between energy consumption and the orientation of the legged robot. From the point of view of bionics, the influence of the change of posture on the overall energy consumption in the static state was obvious. The specific measurement of the overall energy consumption needed to consider a number of influencing factors. The use of torque as a consideration in this paper was to simplify the problem and to highlight the research focus and objectives. We wish that the trends of robot attitude change and energy consumption change could be obtained through the method proposed in the paper, in order to further study in future the method of active attitude control to reduce the overall energy consumption of the robot. (5) Although the robot with low speed movement was taken as the research object, the establishment of the energy model of the foot robot has a similar analysis process. The output torque of the joints of the legs can be obtained through the static analysis of the legs, so that the energy consumption of the whole robot can be analyzed. Therefore, the method proposed in this paper was general for legged robots, especially for bionic insect legged robots. Secondly, considering the flexibility of the robot, the introduction of the maximum step performance index, and the equalization method based on energy consumption and maximum step size, this method was also applicable to any foot robot. In the experimental part of the article, although a specific robot platform was selected for testing, the variation rule of the whole energy consumption was solved, which was not a specific numerical change, which simplifies the problem and highlights the research methods and objectives. Future work:  
(1) Increase the analysis of robot flexibility. Flexibility is an important indicator of the robot's motion performance, reflecting the dexterity of the robot's position in the workspace.