AUTHOR=Kashiri Navvab , Abate Andy , Abram Sabrina J. , Albu-Schaffer Alin , Clary Patrick J. , Daley Monica , Faraji Salman , Furnemont Raphael , Garabini Manolo , Geyer Hartmut , Grabowski Alena M. , Hurst Jonathan , Malzahn Jorn , Mathijssen Glenn , Remy David , Roozing Wesley , Shahbazi Mohammad , Simha Surabhi N. , Song Jae-Bok , Smit-Anseeuw Nils , Stramigioli Stefano , Vanderborght Bram , Yesilevskiy Yevgeniy , Tsagarakis Nikos 

TITLE=An Overview on Principles for Energy Efficient Robot Locomotion

JOURNAL=Frontiers in Robotics and AI

VOLUME=Volume 5 - 2018

YEAR=2018

URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2018.00129

DOI=10.3389/frobt.2018.00129

ISSN=2296-9144

ABSTRACT=Despite enhancements in the development of robotic systems, the economy of robots is far behind that of biological systems. This paper reviews recent advancements in development of legged robotic systems from different perspectives, to elucidate the current stage of robotics in terms of energy efficiency, and to highlight solutions progressing this criterion. It includes a review of various robotic actuators exploiting compliance in series and parallel for energy recycling, and discusses the importance of limb segmentation in design, dynamics analysis and locomotion control of legged robotic systems. A number of energetically-established control approaches are explored and compared with human behaviors/controls. Finally, a set of cutting-edge topics initiating new directions in locomotion is reported.