C-Legged Hexapod Robot Design Guidelines Based on Energy Analysis

C-legged hexapod robots offer a balanced trade-off between the robust stability of wheeled and increased-motion capabilities legged robots, therefore, are currently great interest. This article investigates impact mass, leg radius, angular velocity on energy consumption in order to develop set design guidelines that maximize robot’s performance. The kinematic model single C-leg system is obtained used determine system’s associated with gravitational potential (GPE) kinetic (KE) variations. Both validated custom-made test bench. Our results show very accurately predicts trajectory space, but due varying load experienced by motor, lags compared predictions. Furthermore, has been also experimentally successfully motor periods. Using model, it concluded radius have an exponential relationship peak power demand—directly affecting selection. On other hand, mass inversely proportional robot efficiency, must be kept as low possible.