Date of download: 11/3/2017 Copyright © ASME. All rights reserved. From: Effects of Load Connection Form on Efficiency and Kinetics of Biped Walking J. Mechanisms Robotics. 2016;8(6):061015-061015-10. doi:10.1115/1.4034464 Figure Legend: COT of each model with k = 1500 N/m, c = 10 Nm/s, and S = 0.5 m. As the walking speed v or half step angle α increases, COT increases for all models: (a) COT versus average walking speed v with α = 0.35 rad and (b) COT versus average walking speed v with preferred α.