In this article. an energy-efficient gait planning algorithm that utilizes both 3D body motion and an allowable zero moment point region (AZR) is presented for biped robots based on a five-mass inverted pendulum model. The product of the load torque and angular velocity of all joint motors is used as an energy index function (EIF) to evaluate the energy consumption during walking. The... https://bbmbatteryes.shop/product-category/832/