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Sun, Z. (author), Roos, N. (author)The gait of humans is often assumed to be the most energy efficient way of walking. Srinivasan and Ruina [18] confirm this hypothesis using a simple model in which the human is a point mass with straight legs that can change in length during a step. Their results show that the inverted pendulum walk is the most energy efficient gait. The...conference paper 2013