“…Optimization is useful because it is based on contrived metrics which can be clearly defined for mathematical analysis. Existing strategies include quadratic optimization over all periodic motions (Blair & Iwasaki, 2011;Kohannim & Iwasaki, 2017), parametrization of the geometric configuration over a truncated basis (Cortes, Martinez, Ostrowski, & McIsaac, 2001), calculus of variations (Hicks & Ito, 2005), and mimicking observed kinematics to reduce the number of parameters which are then optimized numerically by gridding the parameter space (McIsaac & Ostrowski, 2003). Some of these methods have been successfully applied to reproduce biological gaits with no presumption on the kinematics (Liu, Fish, Russo, Blemker, & Iwasaki, 2016).…”