If, somehow, you don't want to dispose your tired, explored creature after force them to generate energy, you can go to the other side of the spectre and give them the best you can to recharge their energy for another round. Put your tired animal in the bay, feed them the best, give them all the pampering and give some time...
They will endure long sessions and generate energy like their entire life. Pyphoon bay is equipped with spa and massage session.