**4. Conclusion**

The contribution of this chapter is to compare and analyze the effects a muscle emulator on the walking efficiency of a biped robot. The results indicate that the use of a muscle emulator in the DC motor control loops of humanoid robots provides a compliance property in articular joints. Thus, the walking performance is improved, as follows:


This model benefits from the advantages and simplicity of electric motor implementation, as well as from the benefits of human muscle compliance, which allow for dynamic walking without adding a physical element to the robot.
