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We compared minimum COT and maximum walking velocity of TITAN-XIII with other quadruped robots.
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This low vertical velocity of the foot is problematic when the robot overcomes a obstacles, and eventually limit the maximum walking speed on rough terrain.
Walking distance (m), real-time (sec), and maximum walking speed (m/s) were assessed.
One of our inclusion criteria was "able to walk 20 meters with or without walking aid", thus, all people able to walk were included, independent of their walking characteristics (e.g. walking velocity or instability).
The walking velocity has an average value of some μms−1, while the maximum speed is observed to be around 22 μm s−1.
In addition to the foot velocity, walking gait is also important for increasing walking velocity.
COT can be reduced by increasing walking velocity.
Walking velocity did not influence step kinematic variability.
Walking experiments were conducted to confirm the walking velocity and the energy consumption of TITAN-XIII.
The main outcome measures were walking velocity and endurance, measured with the 4-m walk and the 6-minute walk, respectively.
To increase the walking velocity, the foot velocity in the moving direction should be as fast as possible.
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