Table 3: The total energy demand of different gaits.

Inchworm Turn around Wheels locomotion

Linear 2.0458 J/m 1.0097 J/m 0.0424 J/m
Turning 41.2473 J 4.6744 J 3.1689 J
Exterior transition 17.3267 J 9.3039 J 3.7817 J