For the Unitree A1 bounding gait, simulation shows duty factor near 0.22 to 0.30 and longer stride durations minimize cost of transport, with hardware tests at 0.5 m/s only partially matching.
Selecting gaits for economical locomotion of legged robots,
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Refining Motion for Peak Performance: Identifying Optimal Gait Parameters for Energy-Efficient Quadrupedal Bounding
For the Unitree A1 bounding gait, simulation shows duty factor near 0.22 to 0.30 and longer stride durations minimize cost of transport, with hardware tests at 0.5 m/s only partially matching.