# Research on Low Energy Consumption Static Postures of Bionic Feet
## 1 Introduction  
As an important branch of the mobile robot field, the robot with feet has good mobility, environmental adaptability, high research value and broad application prospects. However, in the actual operation of such robots, there are many shortcomings, such as low energy efficiency and high energy consumption. Especially in the low-speed mobile operation with high stability and heavy load, the robot spends more electricity in the stationary state, during which it needs to maintain its body level and other specific functions, such as positioning, loading, and fixed-point operation. The energy consumption under this non-moving state cannot be neglected [1; 2; 3]. By observing the standing state of spiders, stick insects, and other polypods in different environments, robots with feet should have a low energy consumption posture that meets certain constraints. Many scholars have conducted research on the energy consumption of robots with feet and reduced the energy consumption through a joint locking device; however, this device brings additional energy consumption and cumbersome mechanism problems [4; 5; 6]. [PERSON] et al. [7; 8; 9] used the Lagrangian-Eulerian dynamic equation to establish the robot's system and used the least-squares method to obtain the joint torque and optimize the trajectory; then, they analyzed the energy consumption under the robot's motion state. [PERSON] et al. [10; 11; 12] used the Newton-Euler method to further optimize the static heat loss of the robot, proposed an optimal allocation method for each torque of the hexapod robot, and used computer simulations to evaluate the energy consumption of the robot system to reduce energy consumption. [PERSON] et al. [13; 14; 15] obtained the optimal configuration of the robot leg structure by analyzing the influence of different configurations of hexapod robot legs on theenergy consumption of the robot system; they effectively reduced the system's energy consumption. [PERSON] et al. [16; 17] used foot force distribution as the breakthrough point in the study of quadruped robots and realized the optimization of torque distribution and energy consumption of the system. [PERSON] and [PERSON] [18; 19; 20] built a dynamic model of a robot with feet, got the relationship between the joint torque and the force on the foot, and considered the power and heat loss of the driver to optimize the distribution of the joint moment; thus, they obtained the walking mode of the robot with minimum energy consumption. [PERSON] et al. [21; 22; 23] explored the influence of robot posture on motion from the posture of the quadruped robot. The existing energy consumption analysis methods mentioned above are mainly aimed at energy consumption analysis and optimization of different leg configurations under the motion state of robots with feet and rarely involve energy consumption analysis of the robot in the static posture. The ideas presented in this article originate from \"bionics\", and it was hoped that by analysis, a standing posture that mimicked similar insects or four-legged animals could be proposed, which was based on the natural attitude choices of energy-efficient insects or animals. This paper took a self-customized low-speed hexapod robot as the research object, also known as the spider robot, which is a kind of multi-foot robot. The hexapod robot is expected to mimic the insect's movement organs and motor principles, as well as the gaits. Incorporating superior biological properties into the design of the robot gives the robot superior performances, flexibility, adaptability and maneuverability. Compared with other bionic robots, the foot-type bionic robot has the advantages of discrete footsteps, flexible movement, obstacle-avoidance ability and terrain adaptability. It can be flexibly and stably integrated into unstructured terrains such as sands and grassland.