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Thus, it is very effective to choose the low duty factor gait such as the trot gait to increase walking velocity.
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COT can be reduced by increasing walking velocity.
In addition to the foot velocity, walking gait is also important for increasing walking velocity.
These changes, in turn, resulted from linear increases in swing velocity and steep decreases in stance duration with increasing walking speed.
Increase walking time to forty minutes.
To increase the walking velocity, the foot velocity in the moving direction should be as fast as possible.
The relations of peak force to stance time also revealed that high peak force (comparable to that when walking with additional load) and high rate of force rise (comparable to that when walking without additional load) in FL can be obtained by increasing the walking velocity with a motor driven treadmill.
Since cost of transport (COT) can be reduced by increase of walking velocity, we decided to design a fast walking sprawling-type quadruped robot.
In this paper, to improve speed and energy efficiency of a sprawling-type quadruped robot, we focused on three design concepts (increase of walking velocity to reduce cost of transport, using the trot gait as low duty factor and safety gait, and increase of gear ratio of the actuator supporting gravitational force).
Therefore, we can confirm that the total COT is decreased as increase of walking velocity because of reducing the electric power consumption and the gravitational support power.
Therefore by reducing a running time, e.g. increase of walking velocity, total COT can be reduced because of decrease of the electric energy and the gravitational support energy.
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