The power consumption of mechanical legs

Abstract

The paper examines a two-degree of freedom serial-operated mechanical leg, driven by rotary actuators at hip and knee joints. It determines the effects of limb lengths and ground clearance on step length. The powers required to support the machine and to swing the legs are considered separately. The conditions for minimum actuator peak powers are identified for each case. Finally, the results are applied to the alternating-tripod gait of a hexapod walking machine.