Walking Mode Research Articles

Computational biomechanics for a standing human body: Modal analysis and simulation.

We develop computational mechanical modeling and methods for the analysis and simulation of the motions of a human body. This type of work is crucial in many aspects of human life, ranging from comfort in riding, the motion of aged persons, sports performance and injuries, and many ergonomic issues. A prevailing approach for human motion studies is through lumped parameter models containing discrete masses for the parts of the human body with empirically determined spring, mass, damping coefficients. Such models have been effective to some extent; however, a much more faithful modeling method is to model the human body as it is, namely, as a continuum. We present this approach, and for comparison, we choose two digital CAD models of mannequins for a standing human body, one from the versatile software package LS-DYNA and another from open resources with some of our own adaptations. Our basic view in this paper is to regard human motion as a perturbation and vibration from an equilibrium position which is upright standing. A linear elastodynamic model is chosen for modal analysis, but a full nonlinear viscoelastoplastic extension is possible for full-body simulation. The motion and vibration of these two mannequin models is analyzed by modal analysis, where the normal vibration modes are determined. LS-DYNA is used as the supercomputing and simulation platform. Four sets of low-frequency modes are tabulated, discussed, visualized, and compared. Higher frequency modes are also selectively displayed. We have found that these modes of motion and vibration form intrinsic basic modes of biomechanical motion of the human body. This view is supported by our finding of the upright walking motion as a low-frequency mode in modal analysis. Such a "walking mode" shows the in-phase and out-of-phase movements between the legs and arms on the left and right sides of a human body, implying that this walking motion is spontaneous, likely not requiring any directives from the brain. Dynamic motions of CAD mannequins are also simulated by drop tests for comparisons and the validity of the models is discussed through Fourier frequency analysis. All computed modes of motion are collected in several sets of video animations for ease of visualization. Samples of LS-DYNA computer codes are also included for possible use by other researchers.

FOX Optimization Algorithm Based on Adaptive Spiral Flight and Multi-Strategy Fusion.

Adaptive spiral flight and multi-strategy fusion are the foundations of a new FOX optimization algorithm that aims to address the drawbacks of the original method, including weak starting individual ergodicity, low diversity, and an easy way to slip into local optimum. In order to enhance the population, inertial weight is added along with Levy flight and variable spiral strategy once the population is initialized using a tent chaotic map. To begin the process of implementing the method, the fox population position is initialized using the created Tent chaotic map in order to provide more ergodic and varied individual beginning locations. To improve the quality of the solution, the inertial weight is added in the second place. The fox random walk mode is then updated using a variable spiral position updating approach. Subsequently, the algorithm's global and local searches are balanced, and the Levy flying method and greedy approach are incorporated to update the fox location. The enhanced FOX optimization technique is then thoroughly contrasted with various swarm intelligence algorithms using engineering application optimization issues and the CEC2017 benchmark test functions. According to the simulation findings, there have been notable advancements in the convergence speed, accuracy, and stability, as well as the jumping out of the local optimum, of the upgraded FOX optimization algorithm.

EM-Gait: Gait recognition using motion excitation and feature embedding self-attention

Gait recognition, which can realize long-distance and contactless identification, is an important biometric technology. Recent gait recognition methods focus on learning the pattern of human movement or appearance during walking, and construct the corresponding spatio-temporal representations. However, different individuals have their own laws of movement patterns, simple spatial–temporal features are difficult to describe changes in motion of human parts, especially when confounding variables such as clothing and carrying are included, thus distinguishability of features is reduced. To this end, we propose the Embedding and Motion (EM) block and Fine Feature Extractor (FFE) to capture the motion mode of walking and enhance the difference of local motion rules. The EM block consists of a Motion Excitation (ME) module to capture the changes of temporal motion and an Embedding Self-attention (ES) module to enhance the expression of motion rules. Specifically, without introducing additional parameters, ME module learns the difference information between frames and intervals to obtain the dynamic change representation of walking for frame sequences with uncertain length. By contrast, ES module divides the feature map hierarchically based on element values, blurring the difference of elements to highlight the motion track. Furthermore, we present the FFE, which independently learns the spatio-temporal representations of human body according to different horizontal parts of individuals. Benefiting from EM block and our proposed motion branch, our method innovatively combines motion change information, significantly improving the performance of the model under cross appearance conditions. On the popular dataset CASIA-B, our proposed EM-Gait is better than the existing single-modal gait recognition methods.

Autonomous driving parking robot systems for urban environmental benefit evaluation

Many countries are now taking environmental issues seriously and working towards neutral. Therefore, this study aims to reduce carbon emissions by suggesting ways to reduce the use of passenger cars and induce the use of public transportation and walking modes. To this end, a valet parking robot system was designed in a transfer car park outside Seoul. The effect of the system was quantified. By implementing the valet parking robot system in the transfer parking lots, the time to find a parking space and the time to park after finding a parking space are reduced when using existing parking lots. In other words, the valet parking robot system can reduce out-of-vehicle time, and the reduction in travel time can induce a modal shift from existing car users to public transport. Furthermore, by reducing the number of cars in the city center, vehicle kilometer traveled(VKT) will be reduced, and the emission of pollutants that cause air pollution will also be reduced due to less traffic on public roads in the city center. This study analyzes this quantitatively and concludes that the implementation of a valet parking robot system can have a positive environmental impact.

UNDERSTANDING THE MANAGEMENT OF DUCHENNE MUSCULAR DYSTROPHY AS PER AYURVEDA

The muscular dystrophies are genitacally determined,progressive,primary disorders of muscle.Common presenting symptoms include delayed mile stones,abnormal mode of walking,difficulty in running,climbing stairs and getting up from floor,frequent falls,weakness of arms or face,ocular symptoms,enlargement or wasting of muscles and recurrent chest infections.The symptoms are progressive and a family history of similar illness may be obtained.Duchenne muscular dystrophy(D.M.D) is a severe muscle wasting disorder,resulting in early confinement to wheel chair and often death by the age of 20 years. There is no cure available for this disorder at present,prevention & treatment of complications is of prime importance as per modern medicine, but Ayurvedic treatments show significant results in all signs and symptoms of disease.

A study of size threshold for cooling effect in urban parks and their cooling accessibility and equity

Rapid urbanization has led to increasingly prominent urban heat island phenomena and social inequality. It is urgent to quantify the threshold area of urban parks from multiple perspectives to maximize the cooling effect and improve the equity of park cooling services. Using 33 urban parks in Harbin City as research objects, four indices, i.e., park cooling intensity (PCI), park cooling distance (PCD), park cooling area (PCA), and park cooling efficiency (PCE), were used to explore the park cooling effect and the threshold value of efficiency (TVoE) of the size. The OD (origin–destination) matrix model was constructed to assess the spatial accessibility from the community to the cooling range. The Gini coefficient was used to assess the equity of cooling range accessibility. The relative contribution of each influencing factor to the cooling indicator was quantified through regression modeling. The results showed that the average PCI was 3.27 ℃, the average PCD was 277 m, the average PCA was 115.35 ha, and the average PCE was 5.74. Gray space area was the dominant factor for PCI, PCD, and PCA (relative contributions of 100%, 31%, and 19%, respectively). Park area was the dominant factor for PCE (relative contribution of 28%). The TVoE of park sizes based on PCA and PCE were calculated as 82.37 ha and 2.56 ha, respectively. 39.2% and 94.01% of communities can reach cooling ranges within 15 min in walk mode and transit mode, respectively. Approximately 18% of neighborhood residents are experiencing severe inequities in cooling range accessibility. This study can guide park design that maximizes cooling effects, as well as inform city planners on more equitable allocation of urban park resources.

Assessment of geographical accessibility to COVID-19 testing facilities in Nepal (2021)

Ensuring equitable physical access to SARS-CoV-2 testing has proven to be crucial for controlling the COVID-19 epidemic, especially in countries like Nepal with its challenging terrain. During the second wave of the pandemic in May 2021, there was immense pressure to expand the laboratory network in Nepal to ensure calibration of epidemic response. The expansion led to an increase in the number of testing facilities from 69 laboratories in May 2021 to 89 laboratories by November 2021. We assessed the equity of physical access to COVID-19 testing facilities in Nepal during 2021. Furthermore, we investigated the potential of mathematical optimisation in improving accessibility to COVID-19 testing facilities. Based on up-to-date publicly available data sets and on the COVID-19-related daily reports published by Nepal's Ministry of Health and Population from May 1 to November 15, 2021, we measured the disparities in geographical accessibility to COVID-19 testing across Nepal at a resolution of 1km2. In addition, we proposed an optimisation model to prescribe the best possible locations to set up testing laboratories maximizing access, and tested its potential impact in Nepal. The analysis identified vulnerable districts where, despite ramping up efforts, physical accessibility to testing facilities remains low under two modes of travel-walking and motorized driving. Both geographical accessibility and its equality were better under the motorised mode compared with the walking mode. If motorised transportation were available to everyone, the population coverage within 60min of any testing facility (public and private) would be close to threefold the coverage for pedestrians within the same hour: 61.4% motorised against 22.2% pedestrian access within the hour, considering the whole population of Nepal. Very low accessibility was found in most areas except those with private test centres concentrated in the capital city of Kathmandu. The hypothetical use of mathematical optimisation to select 20 laboratories to add to the original 69 could have improved access from the observed 61.4% offered by the laboratories operating in November to 71.4%, if those 20 could be chosen optimally from all existing healthcare facilities in Nepal. In mountainous terrain, accessibility is very low and could not be improved, even considering all existing healthcare facilities as potential testing locations. The findings related to geographical accessibility to COVID-19 testing facilities should provide valuable information for health-related planning in Nepal, especially in emergencies where data might be limited and decisions time-sensitive. The potential use of publicly available data and mathematical optimisation could be considered in the future. WHO Special Programme for Research and Training in Tropical Diseases (TDR).

Research on Monitoring Assistive Devices for Rehabilitation of Movement Disorders through Multi-Sensor Analysis Combined with Deep Learning.

This study aims to integrate a convolutional neural network (CNN) and the Random Forest Model into a rehabilitation assessment device to provide a comprehensive gait analysis in the evaluation of movement disorders to help physicians evaluate rehabilitation progress by distinguishing gait characteristics under different walking modes. Equipped with accelerometers and six-axis force sensors, the device monitors body symmetry and upper limb strength during rehabilitation. Data were collected from normal and abnormal walking groups. A knee joint limiter was applied to subjects to simulate different levels of movement disorders. Features were extracted from the collected data and analyzed using a CNN. The overall performance was scored with Random Forest Model weights. Significant differences in average acceleration values between the moderately abnormal (MA) and severely abnormal (SA) groups (without vehicle assistance) were observed (p < 0.05), whereas no significant differences were found between the MA with vehicle assistance (MA-V) and SA with vehicle assistance (SA-V) groups (p > 0.05). Force sensor data showed good concentration in the normal walking group and more scatter in the SA-V group. The CNN and Random Forest Model accurately recognized gait conditions, achieving average accuracies of 88.4% and 92.3%, respectively, proving that the method mentioned above provides more accurate gait evaluations for patients with movement disorders.

Hydrodynamics of standing-and-walking on the water surface by dolphins using collaborative movements of the body and fins

To break the application scenario limitations of traditional bionic underwater robots and open up the way of information docking between underwater and water surface, a systematic study was conducted on the cross-medium standing-and-walking (SAW) behavior of dolphins under the collaborative movements of the body, caudal, and pectoral fins. A three-dimensional physical model of the biomimetic dolphin robot was established, a collaborative movement law of the body, caudal, and pectoral fins was proposed, and the SAW behavior under two modes, Homologous and Reverse modes, was realized. The mapping relationship between the robot's kinematic parameters and hydrodynamic performance parameters was analyzed, the respective advantages of the two vertical walking modes were compared, and the SAW mechanism of the two modes was revealed physically with the help of the evolution law of the flow field around the robot. The results show that the biomimetic dolphin robot can realize cross-medium SAW behavior through the collaborative movements of the body, caudal pectoral fins. It is worth noting that the Hom mode has a superior walking speed, which can reach up to 0.27 m/s, an increase in 83.3% compared to the Rev mode under the same conditions, while the Rev mode has better walking stability, with a minimum fluctuation rate of 2.59%, a 30.8% improvement compared to the Hom mode. This research provides a novel idea for enhancing the surface operation capability of traditional biomimetic underwater robots and provides an important fluid mechanics theoretical basis for the design of new generation of cross-medium dolphin robots.

Activity-based and agent-based transport model of Melbourne: an open multi-modal transport simulation model for Greater Melbourne

Activity- and agent-based models for simulating transport systems have attracted significant attention in recent years. However, building these types of models at a city-wide level and including motorized (i.e. cars and public transport) and non-motorized (i.e. walk and bicycle) modes of transport is a complicated and involved task. This paper presents an open workflow for creating large-scale multi-modal agent-based transport simulation models. The workflow brings together a number of external tools, for example, an activity-based demand generation tool and a road network generation tool, and a set of tools developed for the agent-based model parameter estimation, calibration, and simulation post-processing. We used this workflow to create an activity- and agent-based model for Melbourne and compared the output of the simulation model with observations from the real world in terms of mode share, road volume, travel time, and travel distance. Through these comparisons, we showed that our model is suitable for studying mode choice and road usage behavior of travelers. The calibrated model could be used to test road network change interventions. In addition, a similar workflow can be applied for building simulation models for other cities or could be expanded to include more complicated travel behaviors.

Development and Preliminary Evaluation of a Bimodal Foot Prosthesis for Walking and Running.

People often alternate between bouts of walking and running, for instance, when adults participate in recreational activities. Transitioning between activities can be challenging for prosthesis users because existing prosthetic feet are not well-suited for both tasks. Meanwhile, switching between prostheses for different tasks is often impractical. Collectively, these challenges can present barriers to physical activity participation for people with limb loss, which can negatively impact social or physical health. This work describes the development and evaluation of a passive bimodal prosthetic foot prototype with different configurations and stiffnesses for walking and running. Users rated the bimodal prosthesis higher for standing and walking compared to a running prosthesis (+2.3 for both tasks on a seven-point Likert scale). Users rated the bimodal prosthesis higher for running compared to a walking prosthesis (+1.7 and +0.5 for 2.0 and 2.5 m/s running, respectively). Changing from walking to running mode increased the device's stiffness by 23-84%, depending on the user's preference. Users could switch between bimodal prosthesis walking and running modes quickly (21.3 ± 12.0 s). Overall, the preliminary results were encouraging in terms of user satisfaction, stiffness change between modes, and mode-switching speed. These findings motivate future exploration of this bimodal prosthesis concept.

Towards a better understanding of capitalization of urban greening: Examining the interactive relationship between public and club green space accessibility

With the inequalities in accessing urban green space being intensified worldwide, the capitalization of urban green space (UGS) is increasingly becoming an important concern for achieving inclusive and sustainable urban development. Although the relationship between greening and capital investment has been widely investigated, little is known about the role of residential club green space in the capitalization of urban greening, particularly in cities with well-established markets for gated communities (GCs). To address this gap, this study put together multiple official data and open data to systematically examine the interrelation between club green space and urban parks in terms of accessibility and affordability. The results demonstrate that club green space profoundly influences residents' daily exposure to urban green space, particularly for walking modes. Additionally, residents’ general willingness to pay for accessing UGS may create a mutually reinforcing effect between club green space and urban parks. As the housing premiums reflect, club green space complements high-level parks (city and district parks) but substitutes small-scale parks (community and pocket parks). Park quality and neighborhood population density may amplify the substitution effect of club greens, while the level of neighborhood aging shows a contrary effect and is reflected mainly in walking accessibility. Foregrounding the often-overlooked residential club green space in UGS studies, this research offers a novel and useful perspective to enrich the understanding of capitalization of urban green spaces, especially in GCs-dominated urban contexts, thus informing green space planning and policy-making.

A modified social force model for pedestrian-bicycle mixed flows and its application on evaluating the conflict risk in shared roads

As sustainable modes of transport, walking and cycling are the major choices for short trips. The mixed flow of pedestrians and bicycles is often observed on the roads, but its dynamics and conflict risks have not been well investigated. As commonly observed, pedestrians walk along the road boundaries in the pedestrian-bicycle shared roads. When two or more bicycles share the road, the rear bicycle may choose to either follow or overtake the preceding bicycle under specific criteria. To better reproduce this phenomenon, this study proposed a modified social model. Specifically, self-driving force, force from boundaries, force from other pedestrians and force from bicycles were considered in simulating pedestrian movement. Additionally, the modeling of bicycle movement explicitly takes into account the behavior force for following or overtaking the preceding bicycle. YOLO v5 object detection and DeepSORT multi-object tracking algorithms were applied to extract pedestrian and bicycle trajectories captured by the camera on an unmanned aerial vehicle (UAV). Then the model was calibrated using a genetic algorithm to minimize the discrepancy between the simulated and observed trajectories. Under both unidirectional and bidirectional flow scenarios, the proposed model demonstrates good accuracy in reproducing individual movements and lane-formation phenomena for bidirectional pedestrian-bicycle mixed flows. Furthermore, the calibrated model was applied to evaluate the conflict risk of pedestrians and bicycles in a straight road and an intersection on campus. The safety assessment results indicate that lower density and fewer bicycles in the mixed flow can effectively reduce the risk of conflicts. This study can help understand interactions of pedestrians and cyclists in mixed flow conditions and provide theoretical support for the planning and safety evaluation of pedestrian-bicycle shared roads.

Modeling and experimental evaluation of the stepping characteristic on a walking-type piezoelectric actuator

Aiming at the suppression of backward motion, a walking-type piezoelectric actuator was developed in this paper. Two walking modes of ellipse-shaped walking and rhombus-shaped walking were discussed. The dynamic models in the x and y direction were established to simulate the stepping characteristics of two walking modes. The simulated results depicted that the actuator was able to achieve stepping displacement free of backward motion. A prototype was fabricated, and a series of experiments were conducted. The experiments indicated that, under two walking modes, there was a backward displacement in each operating cycle due to assembly errors. To suppress backward motion, a solution to compensate for the assembly errors by varying the bias voltage difference between two stators was proposed. After correcting the assembly errors, the backward displacements were almost eliminated and reduced by 71.4% from 0.28 to 0.08 μm and 68.1% from 0.22 to 0.07 μm, respectively under the ellipse-shaped walking mode and rhombus-shaped walking mode, which proved the effectiveness of the proposed actuator.

An Underwater Biomimetic Robot that can Swim, Bipedal Walk and Grasp

In developing and exploring extreme and harsh underwater environments, underwater robots can effectively replace humans to complete tasks. To meet the requirements of underwater flexible motion and comprehensive subsea operation, a novel octopus-inspired robot with eight soft limbs was designed and developed. This robot possesses the capabilities of underwater bipedal walking, multi-arm swimming, and grasping objects. To closely interact with the underwater seabed environment and minimize disturbance, the robot employs a cable-driven flexible arm for its walking in underwater floor through a bipedal walking mode. The multi-arm swimming offers a means of three-dimensional spatial movement, allowing the robot to swiftly explore and navigate over large areas, thereby enhancing its flexibility. Furthermore, the robot’s walking arm enables it to grasp and transport objects underwater, thereby enhancing its practicality in underwater environments. A simplified motion models and gait generation strategies were proposed for two modes of robot locomotion: swimming and walking, inspired by the movement characteristics of octopus-inspired multi-arm swimming and bipedal walking. Through experimental verification, the robot’s average speed of underwater bipedal walking reaches 7.26 cm/s, while the horizontal movement speed for multi-arm swimming is 8.6 cm/s.

Barriers and strategies to implementing safe routes to school programs within disadvantaged communities: Interviews with state-level representatives

ObjectiveSafe Routes to School (SRTS) programs promote walking, bicycling, and other alternative transportation modes to school for children. These programs have shown increases in active transportation in children and implement programs through non-infrastructure (e.g., education) and infrastructure (e.g., sidewalks) projects. Although SRTS have been shown to be successful in increasing active transportation and promoting healthy lifestyles, many state SRTS representatives have noted many barriers to reaching disadvantaged populations (e.g., low-income, communities of color, individuals with disabilities, non-English speakers, etc.), which may be contributing to the various participation/injury/fatality disparities seen within these populations. Purpose/methodsThis study attempted to qualitatively understand the current barriers, successful strategies, and future resources/tools needed to provide equitable SRTS programming by interviewing state SRTS representatives/coordinators (or similar) (n = 13). Thematic analysis was conducted on interview transcripts, and eight common themes arose. ResultsThemes noted barriers to funding, community involvement, lack of personnel, and lack of proper education/experience/expertise within stakeholders., Common desired resources/tools were increased funding, the hiring of consultants, and a federal SRTS mandate. Strategies to address disparities focused on strategic partnerships, both within the government and with community organizations, providing consulting to communities, and access to funding. ConclusionVarious barriers were seen among state SRTS coordinators when attempting to reach disadvantaged populations. State SRTS coordinators should attempt to implement strategies to increase their capacity to reaching disadvantaged populations, including early contact with disadvantaged communities, hiring consultants for communities, and partnering with other government organizations who attempt to address the needs of disadvantaged students.

Spatial Justice of Urban Park Green Space under Multiple Travel Modes and at Multiple Scales: A Case Study of Qingdao City Center, China

Improving the justice of public parks is of great significance to the well-being of residents, and it is also an important goal of green space planning. In this paper, the spatial justice of park green space under five travel modes and at three scales was analyzed using the travel-behavior-based Gaussian two-step floating catchment area method (TB-G2SFCA) and Gini coefficient method for Qingdao City Center. The main results are as follows: Under walking mode, walking–bus mode, and walking–subway mode, there were unserved areas in terms of urban park green space, while there were no unserved areas in the cases of cycling and driving. Residents’ choice of travel time and travel mode would affect the service scope of the park green space, and the increase in travel time would reduce the unserved areas in the urban park green space. The choice of travel time and travel mode affected the accessibility of urban park green space for residents in each residential patch, as well as the justice of the distribution of park green space resources at the scales of street blocks, districts, and the whole study area. The increase in residents’ travel speed and travel time could promote the equitable allocation of urban park green space to a certain extent. The results of this study provide a scientific basis for the planning and construction of urban park green space in Qingdao City.

Re-claiming urban neighbourhood streets for active transport – Evidence from Vasai, Maharashtra

All means of transportation that involves using one's own muscle power to get from one place to another is referred to as ‘active transportation’. The current study intends to revive urban neighbourhood streets by enabling the use of active modes of transport. An attempt is made to enable the use of active modes of transport through analysing citizens' perceptions and their needs in line with infrastructure facilities to foster/encourage the shift to active transportation. The objective of the current investigation is to identify priority ‘areas of intervention’ (the basic requirement of the citizens) for fostering active transportation (walking and cycling) facilities. The priority ‘areas of intervention’ are identified using revised Importance Performance Analysis (IPA). A survey instrument was constructed to assess the importance and satisfaction of several parameters associated with walking and cycling; data was collected on a five-point unipolar Likert-type scale. The parameters analysed assess the overall provisions in the neighbourhood and assist in understanding the barriers to the choosing of active modes of walking and cycling. The results of the present study are an evaluation for decision making to improve active transport facilities in neighbourhood named, Evershine City of Vasai in Maharashtra. The findings of the study indicate the need for improvement of several facilities to increase the overall performance level of active transport in the neighbourhood. The improvements made in those areas are expected to promote active mobility in the neighbourhood. Despite the findings of the current study are case-specific, the work is anticipated to achieve the ease of mobility for first mile and last mile connectivity in various urban neighbourhoods, further encouraging green mobility by prioritizing active mobility.

Autonomous locomotion mode transition in quadruped track-legged robots: A simulation-based analysis for step negotiation

Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these transitions remains a significant challenge. In this paper, we introduce a method designed for autonomous mode transition in a quadruped hybrid robot with a track/wheel-legged configuration, especially during step negotiation. Our approach hinges on a decision-making mechanism that evaluates the energy efficiency of both locomotion modes using a proposed energy-based criterion. To guarantee a smooth negotiation of steps, we incorporate two climbing gaits designated for the assessment of energy usage in walking locomotion. Simulation results validate the method’s effectiveness, showing successful autonomous transitions across steps of diverse heights. Our suggested approach has universal applicability and can be modified to suit other hybrid robots of similar mechanical configuration, provided their locomotion energy performance is studied beforehand.

Control of Dynamic Biped Walking Robot

The objective of this article is to present control algorithms of biped dynamic walking robot. A mathematical model of the walking robot is compiled. The construction of the robot is based on minimalist design principles - absolutely solid body with two legs. Analytical dependencies between six coordinates of the body, coordinates of the left and right legs and absolute coordinates of the feet are defined. The block diagram of control system is presented. Differential equations of walking are compiled. The dynamic stability of biped walking robot near the required trajectory is provided by discrete control of the parameters: «when and where to put foot». To define these parameters, it is proposed to use an inverted mathematical pendulum as an ideal mechanism. Its linearized differential equations allow present the feet coordinates according to the measured initial and final parameters (at the begging and at the end of the step). The article paid particular attention to results of such control method with various walking modes. The coordinates of the robot body, its velocities and accelerations, angles of rotation were investigated. Calculations confirmed the small deviations of the proposed model of walking from the ideal one. The developed methodology allows improve the construction and control system of biped dynamic walking robots at the design stage. Some of the tasks, it can be used: design machines simulating human walking, with high speed and maneuverability, with point feet and synchronized with natural uncontrolled movements.