Gait optimization method for quadruped locomotion

The scope of the paper is to develop a methodology for finding optimal gaits of a quadruped robot using genetic algorithm, comparing the results to the ones resulting from natural evolution. The optimization is performed over pre-imposed contact forces to find the best shapes that guarantees the minimum en-ergy consumption during a single stride cycle. The dynamic formulation of the four-dimensional model is developed without involving any specific kinematic mechanism for the legs, considering the entire gait spectrum a quadruped can exhibit. The optimization model consists of a set of constraints that ensure the feasibility and stability of the gaits. Results are presented for an optimization re-quiring a constant speed of 1.35 /. The optimal gait was found to be consistent to nature, suggesting that energy consumption is one of the key factors contrib-uting to the evolution of gaiting patterns in quadrupeds. Eventually, a comparison between different existing gait patterns is carried out in terms of foot contact time and energy consumption