Trajectory generation of biped running robot with minimum energy consumption

The exact and general formulation of optimal control for biped robots based on a numerical representation of the motion equation is proposed. We can solve exactly the minimum energy consumption trajectories for a biped running motion. Through the numerical study of a five link planar biped robot, it is found that big peak power and torque is required for the knee joints but its consumption power is small and the main work is done by the hip joints.