Preprint
Sep 2026
Passive-Dynamic-Walking-Inspired Dynamics Guidance for Energy-Efficient Humanoid Locomotion
Learning energy-efficient humanoid locomotion requires discovering mechanically economical gait coordination, not merely reducing actuator effort. Reinforcement learning promotes efficiency through effort-related reward penalties, which guide the step-to-step mechanics of walking only indirectly. This article proposes...
Hyeonjin Choi, Joongheon Kim, Daekyum Kim
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