Abstract
Terrestrial vertebrates can walk more elegant than any other man-made legged mechanical models, which yield unstable locomotion with low speed. They continuously have modified their body structure and living patterns for the survival. They still continue their development. Legs are basically a serial linkage of rigid bodies connected by joints and exactly correspond to the manipulator in robot. Structure of living creatures are copied and modeled with 12 links, 12 joints and body, from the mechanical engineering viewpoint. Iterative Newton-Euler method is applied to compute torques acting all joints, which are required to calculate the total consumed energy to complete one locomotion cycle. Mechanical energy efficiency of different variables or systems are evaluated and compared by specific resistance. Parameters, specifying structure and locomotion, are applied to the simulation and the optimal values which minimize energy expenditure in locomotion are derived.
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