Energy efficient locomotion with adaptive natural oscillator

For robotic systems, energy efficiency is one the most crucial goals. Many studies have been done to accomplish this goal from design and control point of view. In the second view, one of the preferred method is to design the desired trajectory in harmony with the dynamics of the system; i.e. natural dynamics exploitation. Assuming a structure for the desired trajectory, such as sinusoidal trajectories, we can have a parameterized control system as in CPG-Network. Therefore, having an adaptation method for those parameters to reach energy efficiency can be beneficial to control of robotic systems.