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For each speed, these two walking motions are numerically obtained by using a parametric optimization algorithm, regarding a sthenic criterion. Results allow us to define the range of allowable speeds for each walking. One result is that the first gait is less consuming in energy for moderate to fast velocity with respect to the second one, while the second gait is more efficient for low walking velocity.<\/jats:p>","DOI":"10.1017\/s0263574721000631","type":"journal-article","created":{"date-parts":[[2021,6,4]],"date-time":"2021-06-04T09:06:04Z","timestamp":1622797564000},"page":"377-402","source":"Crossref","is-referenced-by-count":5,"title":["Feasible speeds for two optimal periodic walking gaits of a planar biped robot"],"prefix":"10.1017","volume":"40","author":[{"given":"Mathieu","family":"Hobon","sequence":"first","affiliation":[]},{"given":"V\u00edctor","family":"De-Le\u00f3n-G\u00f3mez","sequence":"additional","affiliation":[]},{"given":"Gabriel","family":"Abba","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3484-117X","authenticated-orcid":false,"given":"Yannick","family":"Aoustin","sequence":"additional","affiliation":[]},{"given":"Christine","family":"Chevallereau","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,6,4]]},"reference":[{"key":"S0263574721000631_ref41","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(80)90070-X"},{"key":"S0263574721000631_ref21","first-page":"117","volume-title":"Mech. 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