How to Tune Humanoid Walking Parameters for Better Performance

The aim of this paper is to exploit the peculiarities of a previously presented mechanical model for the humanoid gait, especially considering the role that certain parameters could have in the design of a multi-link leg. Usually the approach is very straightforward; most of the effort is centered on the algorithm which drives the joints, given a geometrical configuration. Taking the advantage of the Lagrangian approach which combines the two potential energies, gravitational and spring-based, the analysis of the model features highlights a possible correspondence among those parameters and the structure of the link leg.