What question did this study set out to answer?

This research aims to understand the energetics of powered walking and the relationship between speed and step length.

Energetics of Actively Powered Locomotion Using the Simplest Walking Model

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Randomized trial explores walking energetics in humans, indicating methods to improve efficiency.

This research aims to understand the energetics of powered walking and the relationship between speed and step length.
Modified a simple model of passive dynamic walking for level ground analysis.
Applied impulse at toe-off and torque on stance leg to analyze energy costs.
Performed simulations using nonlinear equations and realistic inertial parameters.
Toe-off impulse method is four times less costly than the torque method with an energy cost reduction.
Spring-like actuation on the swing leg reduces collision loss at heel strike, enhancing walking efficiency.
Power laws connect toe-off impulses and effective spring constants to gait speed and step length.

Arthur D. Kuo (2001) studied this question.

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