Efficiency analysis in the design of walking machines

The problem of energy efficiency in the design of walking machine is discussed in this paper. Attention is paid to the calculation of motor powers, gear ratios and to the choice of energetically efficient leg configuration. The motor power is evaluated basing on the knowledge about the range of reaction forces during the hexapod movement, assuming that the body moves at the constant velocity, maintaining the height of the centre of gravity above the ground what is expected of hexapods.

The results presented were applied to the walking machine being currently built.