Silva, Filipe M.Tenreiro Machado, J. A.2019-04-121998-06-29http://hdl.handle.net/10400.22/13556This paper presents the energy analysis of a bipedal walking system. The main goal is to understand the movement strategies in walking and the search for the optimal locomotion variables that minimise the energy comsunption. In order to accomplish this goal, a set of locomotion variables is used in the description and analysis of motion. The locomotion variables considered are the following: step length, hip height, hip ripple, hip offset, foot clearance, link lenghts and link masses. Based on thes variables and their influence on the energy flow, the performance is discussed and the results are compared with those observed in nature.engLegged locomotionRobot dynamicsMotion controlconference object10.1109/AMC.1998.743579