Energy minimization in humanoid gait

This paper presents a review of minimum energy based humanoid gait design. The use of energy in gait design is inspired by the theory in human kinesiology stating that human behavior is guided by energy minimization. The different approaches in designing and controlling gait based on energy minimization are explained. The methods are also categorized based on the models used, types of energy monitored, and controller types. The paper presents the energy exchange theory, which to our knowledge has not been implemented in humanoid gait control previously. The importance of this theory is shown in designing a more human-like gait. Preliminary simulation results on the Nao H25 V3.3 in Webots show the limitations of the default gait and the need for implementing the energy exchange theory.

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