The main idea was to find out the common principle of Bipedalism among all kinds of researches on human bipedalism to explain the mechanism deeply, which will be a significant guidance to robot walking. Energetic optimum was found to be a key principle to human bipedalism, inspired by that, a natural gait generation methods was proposed to test the feasibility that using the similar method on robot. The result shows that by using the method the robot could walk simply and efficiently, close to human, which is of huge significance for the future work in this area.
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