Imitating humans: Humanoid gait design based on energy exchange

This paper proposes a novel technique for designing humanoid gaits, inspired from human walking characteristics, in which roughly seventy percent of the required energy during walking is attributed to the exchange of kinetic and potential energies. We test our system by creating an energy-conscious gait for a Hoap2 simulated robot in Webots, and validate that with this gait energy exchange occurs as per our design. Finally, we analyze the energy expenditure for the Hoap2 during walking and compare it to that of human walking.