Research on Low Energy Consumption Static Postures of Bionic Feet

Round 1

Reviewer 1 Report

The paper presents a study of the energy consumption of a hexapod robot while in a static position.

The proposed paper is a relevant and important topic address and investigate.

The presented results are convincing and relevant.

The authors should however address a number of points in the paper. A number of figures present text in non-English language. As the paper is to be published in an English written journal care should be taken to write pictures in English.

Moreover, the Denavit-Hartenberg is often referenced by its initials MDH and/or D-H. The initials should be described and written in a uniform way.

Figure 14 may be presented in a clearer way. It presents important data to the paper and shows positions 0 and 10 that do not exist. This data may also be presented in the form of a table.  

Author Response

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Author Response File: Author Response.pdf

Reviewer 2 Report

During experiment with the robot prototype, you could use the following equipment to measure the consumption of the current for each case (see the attached file).

  

Line 87: What is the b - parameter? Should it be appeared at the Table 2. MDH Parameters of the Right-middle Leg?

Line 178: The text inside the Figure 4. needs to be translated into English.

Line 292: at the text: The experimental results are shown in Fig. 16. should be replaced with Fig. 14.

 

Comments for author File: Comments.pdf

Author Response

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Author Response File: Author Response.pdf

Reviewer 3 Report

I think that the research about low energy consumption of legged robot must propose new index "X" to describe the energy or some effort of the robot. In this paper, index "M" is used but "M" is very conventional and not sufficient. There are many configuration of the robot with variety of reduction ratio on the joint actuators. Torque is not sufficient to describe the energy of the robot.   The title includes "bionic", but it's hard to recognize bionic part in the paper.   Please change captions to english on Fig. 4.   The latter part of the paper is based on a case study of a specific robot. It is important that proposed index should be written as useful to various configuration of the robot.

Author Response

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Author Response File: Author Response.pdf