Abstract
Living creatures can walk or run more elegant and advanced than any other legged mechanical models. Principles of existing robot systems are based more on technical rather than on biological concepts, yielding unstable locomotion with low speed. In order to apply advanced biological phenomena to the mechanical model, three types of vertebrates are selected, and their structures are modeled by 13 links and 12 joints, covering all existing leg and body arrangements, which is a rigid multi-body system and simulated to obtain optimal conditions by calculating locomotion efficiency, which satisfy the principle of minimum energy expenditure.
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