Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits

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It remains challenging to achieve human-like locomotion in legged robots due to fundamental discrepancies between biological and mechanical structures. Although imitation learning has emerged as a promising approach for generating natural robotic movements, simply replicating joint angle trajectories fails to capture the underlying principles of human motion. This study proposes a Gait Divergence Analysis Framework (GDAF), a unified biomechanical evaluation framework that systematically quantifi

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