Comparison of Energy-efficiency in legged locomotion for the Klann and Jansen Mechanisms

This paper presents energy-efficiency comparison of the two famous mechanisms used to develop legged robots. Two prototypes of the legged robots are build using ADAMS software. Then, some challenging tasks for the robots like avoiding obstacles, walking on inclined surfaces and in place turning are considered. The obtained results further showed that the Klann based legged locomotion is very energy-efficient than the Jansen based locomotion. For turning purposes, the Jansen mechanism is proper than the Klann mechanism and the Jansen based robot of similar size cannot handle obstacles that the Klann based robot is capable of.