Golden Gait: An Optimization Theory Perspective on Human and Humanoid Walking
Journal: Frontiers in Neurorobotics
Year: 2017

Human walking is a complex task which includes hundreds of muscles, bones and joints working together to deliver harmonic movements with the need of finding equilibrium between moving forward and maintaining stability. Many different computational approaches have been used to explain human walking mechanisms, from pendular model to fractal approaches. A new perspective can be gained from using the principles developed in the field of Optimization theory and in particularly the branch of Game The