Abstract
Legged walking machines have been based more on technical rather than on biological concepts, yielding unstable locomotion with low speed. Coordinated leg mechanisms of terrestrial vertebrates enable them to maneuver over a variety of terrain. Progressive movement and locomotion of living creatures are more economical and extremely effective in a particular situation. Structural characteristics of selected four-legged terrestrial vertebrates were copied and modeled by 13 links and 12 joints, from Robotics viewpoint. Also, their locomotive characteristics are applied to the modeling and simulated for the assigned conditions. All the parameters which make the energy efficiency maximum are derived, and suggested the optimal design parameters and locomotion methods.
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