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For a biped motion velocity higher than 1.5 m/s, walking cannot be produced by the chosen actuator, but running is possible.
The control law is defined in such a way that only the geometric evolution of the biped configuration is controlled, but not the temporal evolution.
We simply proposed the emotion expression of a fortythree degrees of freedom biped humanoid robot using a parameterization technique.
Subsystem 2 represents the elastic footpad of the biped's leg.
Figure 7 shows the sequence of experimental stick diagrams when the biped ascending the sliping surface.
Figure 10 shows a sequence of experimental stick diagrams when the biped descending stairs.
Actually, the coordination between the biped members causes its movement.
The proposed control method was applied on two different biped robots, and its validity is verified experimentally.
On that basis, we intend to evaluate, within some limits, the best mass distribution for each link allowing the biped to improve its passive walk.
During the single support phase, the configuration of the biped is defined by five independent variables, but there are only four actuators.
The biped is modeled as a five-link planar robot with four actuators located at hip and knee joints.
There is then a chapter that presents really impressive results in achieving legged locomotion, including the biped version.
Model-based animation of biped locomotion in several characteristic instants for the experimentally determined joint trajectories.
Closed-form solution of the inverse kinematics of the biped is computed.
The biped joint coordinates are approximated by cubic splines functions connected at uniformly distributed knots along the motion time.
