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It is often overlooked by roboticists when designing locomotion controllersfor their legged machines, that energy consumption plays an important role inselecting the best gaits for locomotion at high speeds or over long distances.The purpose of this study is to examine four similar asymmetrical quadrupedalgaits that are frequently observed in legged animals in nature. To understandhow a specific footfall pattern will change the energetics of a legged system,we first developed a full body model of a quadrupedal robot called A1. And foreach gait we created a hybrid system with desired footfall sequence and rigidimpacts. In order to find the most energy efficient gait, we used optimalcontrol methods to formulate the problem as a trajectory optimization problemwith proper constraints and objective function. This problem was implementedand solved in a nonlinear programming framework called FROST. Based on theoptimized trajectories for each gait, we investigated the values of cost oftransport and the work done by all joints. Moreover, we analyzed the exchangeof angular momentum in different components of the system during the wholestride cycle. According to the simulation results, bounding with two flightphases is likely to be the most energy efficient gait for A1 across a widerange of speed.

Energetic Analysis on the Optimal Bounding Gaits of Quadrupedal Robots