Optimal bio-inspired structure of a quadruped by the method of energy efficiency

Living creatures have been survived by modifying their body structures and adapting to surrounding circumstance, which is called the fittest survival. Researchers try to copy animal or insect by mechanical robot. Lizard is selected a model, which has 13 links and 12 joints, covering all existing leg and body arrangements. Total energy consumption is calculated by the locomotion simulation, which is based more on biological concepts.