In this study, the body and leg system of the four-legged walking robot is analyzed on the condition of constant walking speed and static gait. And the leg geometries are designed by the steepest descent optimization algorithm to minimize the maximum mechanical power considering motor characteristics.
For finding the actuating velocity profile, the dynamic system is solved on the action of the torque supplied by the actuator at its maximum power. Reducing the maximum actuator power is essential in realizing an efficient and speedy walking robot with high mobility, because the motor power is proportional to its weight.
Two notable configuration changes are detected. First, the actuating point moves to the center of mass of pantograph leg mechanism. Next, a maximum stretched leg is suggested to the limit of transmission angle. Some improved legs are proposed for several assumed operating conditions.