The main objective of this article is to optimize the walking pattern of a 2D humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. To this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. Then, using these trajectories and the inverse kinematics, the position tra...

The optimal predictive, preventive, corrective and opportunistic maintenance policies play an important role in the success of sustainable operations. This study discusses a new energy efficiency-related policy optimization method, which is based on failure data status information from both physical system digital twin-based discrete event simulation. presents functional model, mathematical mod...