Fig. 9: Locomotion modes versus electrical power consumption.
From: Multi-Modal Mobility Morphobot (M4) with appendage repurposing for locomotion plasticity enhancement
The power consumption is estimated based on the average current and reference voltages during the locomotion. UGV is generally the most efficient mode of locomotion but is unable to traverse rough terrains, steep inclinations, or very large ground elevations. UAS mode offers the widest range of operation; however, it is the most energy-inefficient mode. The symbol d denotes the obstacle size. Dw, and DL are the maximum obstacle sizes that can be handled with wheeled and legged locomotion, respectively. αw denotes the maximum slope the UGV mode can handle.
