The motivation of our current research is to devise motion planners for\nlegged locomotion that are able to exploit the robot's actuation capabilities.\nThis means, when possible, to minimize joint torques or to propel as much as\nadmissible when required. For this reason we define two new 6 dimensional\nbounded polytopes that we name Actuation-consistent Wrench Polytope (AWP) and\nFeasible Wrench Polytope (FWP). These objects turn out to be very useful in\nmotion planning for the definition of constraints on the accelerations of the\nCenter of Mass of the robot that respect the friction cones and the actuation\nlimits. The AWP and the FWP could be used also in the robot design phase to\nsize the actuators of the system based on some predefined reference motion.\n