Abstract
A human walking has some general characteristics such as general timing of walking cycle, foot state at each timing, relationship with the stride per stature and walking speed, joint angle patterns of leg, pelvis movement, foot clearance during swing phase. So we collected and analysed the normal walking characteristics to generating natural walking pattern for general biped rigid-body configuration And we explained how to generate the walking pattern in sagittal plane possessing human normal walking characteristics. Finally, we demonstrated that our walking pattern properly have the normal walking characteristics.
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