Absbacf-Though a legged robot bas high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable gait, such as running for a biped robot and a hot gait or a bound gait for a quadruped robot, is a promising solution However, the energy efficiency of the dynamically stable gait is generally lower than the efficiency of the stable gait such as a crawl gait In this paper, we present an experimental study on the energy efficiency of a qnadupod walking vehicle. Energy consumption of two walking patterns for a hot gait is investigated through experiments using a quadruped walking vehicle named TITAN-VIII. The obtained r e d @ show that the 3D sway compemation trajectory proposed in our previous paper (101 has advantages in view of energy efficiency as compared with the original sway compensation trajectory. 0-7803-7860-1/03/$17.00 0 2003 IEEE

Put Investigation on the energy saving method using inverter driving for cooling pump at MMU training ship Myeong-Hwan Lim † ․Byong-Won Ahn*․Bu-Gi Kim** Abstract：The ships have a lot of electric machinery needed to supply electricity from the moment of launching coming out of dry dock to docking at jetty. Thus, the ships always have to use alternator and electric machinery that has low efficiency under the low load. Many government service ships like the MMU training ship have been spending lots of time at jetty rather than sailing at sea. These ships are operated under the condition of low load due to the operation of basic machinery at jetty and electric machineries are driven with the status of low efficiency. This paper would suggest the energy saving method for these ships. The investigation describes that shore connection is a great asset to these ships and that the flow rate control by adjusting revolution with the adoption of inverter is better than flow rate control by using throttle valve to save energy. The result is based on the investigation of cooling pump at MMU training ship. Key words：Saving energy(에너지 절감), Inverter(인버터), Cooling water pump(냉각수 펌프), Training ship(실습선)

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