Regeneration of LIPM bipedal walking trajectories for minimum energy consumption

This paper introduces a method that is able to regenerate joint trajectories based on LIPM walking trajectories for minimal energy consumption during a single support phase. Using variational approach and B-spline curve, this method is able to solve for new set of joint configurations that consumes lower energy while keeping the center of mass almost at the same position in x, y and z direction. From simulation results, it is verified that the proposed method is effective.