Fig. 5: Efficiency vs stability trade-off in rigid-spine and curved-spine walkers.
From: Coordinating limbs and spine: (Pareto-)optimal locomotion in theory, in vivo, and in robots
Schematics of rigid-spine (a) and curved-spine (b) walking theoretical lizards before (solid lines) and after taking a single step (dashed lines) showing the path of the COM (green line) and the base area spanned by the two feet on the ground (ochre). c Step efficiency, expressed as the distance between the centre of mass and each foot over the duration of the step. d Stability, expressed as base area in units of squared TLS length vs leg and spine ROMs.
