An energy efficient dynamic gait for a Nao robot

Zhenglong Sun, Nico Roos

Research output: Chapter in Book/Report/Conference proceedingChapterAcademic


This paper presents a framework to generate energy efficient dynamic human-like walk for a Nao humanoid robot. We first extend the inverted pendulum model with the goal of finding an energy efficient and stable walking gait. In this model, we propose a leg control policy which utilizes joint stiffness control. We use policy gradient reinforcement learning to identify the optimal parameters of the new gait for a Nao humanoid robot. We successfully test the control policy in a simulator and on a real Nao robot. The test results show that the new control policy realizes a dynamic walk that is more energy efficient than the standard walk of Nao robot.
Original languageEnglish
Title of host publication2014 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2014
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)978-1-4799-4254-1
Publication statusPublished - 2014


  • Energy-efficient
  • Humanoid Robot
  • Learning Control

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