An energy consumption based control for humanoid walking

This paper presents a framework of the energy consumption based control system for humanoid walking. Unlike the existing two approaches (One is based on precise control and powerful actuators (full control and wide applicability), and the other is passive dynamic walk (no control, therefore limited applicability)), the method aims at less energy consumption with more applicability. Knee stretching posture contributed to the former in general and a search algorithm based on the computer simulation enabled to find a feasible control to the given task.