Simulation of bipedal walking by a model having zero moment joints. (1st report. Proposal of model based on test of normal walking characteristics).

Abstract

Characteristics of a bipedal walking model consisting if eight rigid elements were simulated for a wide range of walking speeds. The simulation results are similar to experimental findings reported by other researchers in the following : changes of joint angles in the leg with respect to time : changes of magnitudes of floor reaction with respect to walking speed. Controllability of the body motion in the transient phase of walking, starting and stopping, is shown by the rank of Jacobian relating the body velocity with input velocities at joints. The dynamic equation is expressed by the spatial vector method, in other words, the screw coordinates, then a zero moment joint condition is formulated to simulate an abnormal walk. The resulting equations are easily modified to apply to general cases by adding appropriate terms.