# Energy-optimal relative timing of stance-leg push-off and swing-leg retraction in walking

> Research article (Robotica, 2015) · cited 13× · AI/ML

**Wikidata**: [openalex:W2287436041](https://www.wikidata.org/wiki/openalex:W2287436041)  
**Source**: https://4ort.xyz/entity/energy-optimal-relative-timing-of-stance-leg-push-off-and-swing-leg-retraction-in-walking