Optimal energy-effective gait for biped robot

Although people's legs are capable of a broad range of muscle-use and gait patterns, they generally prefer just two, walking and running. A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, a mathematical model for a simple two-dimensional planar kneed walker with point feet and two bended knees is discussed. An energy-effective gait is designed by using piecewise torque method. Then, the robot model can exhibit a natural and reasonable walk on a level ground. The results can prove that the proposed optimal energy-effective gait is suitable for this kneed biped walking robot. And we also discover some walking rules maybe true through the results of optimization.