Wasting energy during motion of a biped robot is an interesting topic.In this thesis, wasting energy of biped robot walking patterns influenced by motion degree of freedom is studied.

• 中文摘要两足机器人运动所消耗的能量是一个值得研究的课题，本论文探讨步态自由度，对两足机器人运动时所消耗能量的影响。