Leg Spring Parameters Design for a SixLegged Walking Robot This paper studies the leg spring parameters design problem for the modular leg mechanism of a sixlegged walking robot. The performance metrics and design concept of the sixlegged walking robot are proposed primarily. The modular planar leg mechanism with two degrees of freedom is designed based on the pantograph mechanism, and parameters are determined by the workspace analysis considering the walking speed and the maximum step barrier height. Parallel spring is configured on the leg mechanism to reduce the peak output joint torque, and the optimal spring parameters are derived by the proposed method. The effectiveness of the leg spring design method is then verified by simulations carried out with different spring stiffness.

Gait Analysis of the Mammal Quadruped Robot from the Perspective of Energy Efficiency Because of the variety of parameters which are closely coupled, the mechanism design and control implementation of the bionic quadruped robot with higher performance is difficult. In this open research field, the energy efficiency of the motion system has become an important design and optimization goal. In this manuscript, a feasible simulation system framework is constructed in the case where the mechanism configuration, the length of the leg and the whole weight has been determined. Based on the step coefficient and the height coefficient, the motion features and the energy consumption of the quadruped robot in the gait sagittal plane are analysed, and the relationship between motion energy efficiency and gait parameters including gait type, step size, step height, step frequency, standing height are discussed in detail. The simulation results show that the gait that consistent with high energy efficiency is similar to animals with similar size.