Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

Table 1

Main parameters of the biped robot.

Link	Length (m)	Mass (kg)	Inertia moment (kg⋅m^2)
Torso	0.175	1.060	0.01623
Thigh	0.130	0.075 (2)	0.00037 (2)
Shank	0.130	0.075 (2)	0.00037 (2)
Foot	0.020	0.060 (2)	0.00004 (2)