Energy-optimal design of walking machines (Q812993)

The author discusses the title problem, proposing an efficient control system by incorporating the dynamics of passive walking machines. Considerable attention is given to details of the dynamics and control. With human walking considered to be the most efficient, it is used as a benchwork for evaluating walking machine designs. The paper provides insight into the state-of-the-art of this long-standing subject. The paper should be of interest and use to both theoreticians and designers.