Steps towards human-like biped walking model simulations

Limited knowledge on human locomotion and the absence of reliable tools for clinical gait evaluation has motivated the development of biped walking simulation models. It was suggested that having an extensive full-body biped walking model with larger number of degrees of freedom and muscles included would deepen our knowledge on human locomotion. Furthermore, if certain model parameters are kept variable and their influence on bipedal walking is investigated not only would such model imitate a walking of a healthy individual but would also give some notion on possible reasons for deviations from optimal normal walking. This paper concentrates at some basic aspects of human walking with purpose to implement them into a planar biped walking robot model with telescopic legs and one degree of underactuation. A set of constraints was formed to encode these walking assumptions which resulted in a stable walking of the presented model when imposed via feedback control.