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In this paper, we propose a flexible shoe system for biped robots to optimize energy consumption of the lateral plane motion. This shoe system is made to deform decline outside in the lateral plane and it can absorb the kinetic energy of the robot in the lateral plane. Furthermore, this hardware (shoes) and software (controller) can be easily applicable to the ordinary walking robot system. The effectiveness and characteristics of this system are confirmed by computer simulations and experimental results. It is confirmed that the stiffness of the shoe is a very important parameter for energy consumption by using computer simulations and experimental results.
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Minakata et al. (2008) studied this question.
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