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Step planning is becoming an increasingly important research topic for humanoid robots. Most cost functions for step planning in the literature are designed based on terrain information. The energy cost to perform each step action is usually ignored. In walking, energy consumption depends on gait features such as step length and width. In this paper, we use three simple and intuitive energy cost functions for different step lengths, widths, and the turning angle. These functions are inspired bydoi:10.1109/icra.2013.6631011 dblp:conf/icra/HuangKA13 fatcat:4pfrxtuuwfejnlbzje2ohgnr6a