Analysis of wave gaits for energy efficiency

Mustafa Suphi Erden, Kemal Leblebicioglu

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper an energy efficiency analysis of wave gaits is performed for a six-legged walking robot. A simulation model of the robot is used to obtain the data demonstrating the energy consumption of the robot while walking in different modes and with varying parameters. Based on the analysis of this data some strategies are derived in order to minimize the search effort for determining the parameters of the gaits for an energy efficient walk. The analysis concludes the following: a phase modified version of the wave gaits are more efficient than the (conventional) wave gaits; using the possible minimum protraction time results in more energy efficient gaits; and higher velocity results in less energy consumption per traveled distance.

Original languageUndefined/Unknown
Title of host publication2006 IEEE 14th Signal Processing and Communications Applications, Vols 1 and 2
Place of PublicationNew York
Number of pages4
ISBN (Print)978-1-4244-0238-0
Publication statusPublished - 2006
EventIEEE 14th Signal Processing and Communications Applications - Antalya, Turkey
Duration: 16 Apr 200619 Apr 2006


ConferenceIEEE 14th Signal Processing and Communications Applications



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