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However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure andlocomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes.<\/jats:p>","DOI":"10.1177\/1077546311403180","type":"journal-article","created":{"date-parts":[[2011,10,28]],"date-time":"2011-10-28T01:08:58Z","timestamp":1319764138000},"page":"1753-1767","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":83,"title":["A literature review on the optimization of legged robots"],"prefix":"10.1177","volume":"18","author":[{"given":"Manuel Fernando","family":"Silva","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Institute of Engineering of Porto, Portugal"}]},{"given":"JA Tenreiro","family":"Machado","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Institute of Engineering of Porto, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2011,10,27]]},"reference":[{"key":"bibr1-1077546311403180","doi-asserted-by":"crossref","unstructured":"Ahmadi M and Buehler M (1999) The ARL monopod II running robot: control and energetics, inProceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, May 10\u201315, pp. 1689\u20131694","DOI":"10.1109\/ROBOT.1999.770352"},{"key":"bibr2-1077546311403180","unstructured":"Albert A and Gerth W (2001) New path planning algorithms for higher gait stability of a bipedal robot. 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