Fig. 20From: TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walkingCOT vs velocity of TITAN-XIII: Each bar indicates total COT which include all energy consumption of the robot. Blue bar indicates the mechanical component of COT, red bar indicates gravitational support component of COT and green bar indicates electric component of COT. Net COT which exclude electric component is indicated as summation of blue bar and red bar Back to article page