The biped joint coordinates are approximated by cubic splines functions connected at uniformly distributed knots along the motion time.
Closed-form solution of the inverse kinematics of the biped is computed.
Model-based animation of biped locomotion in several characteristic instants for the experimentally determined joint trajectories.
There is then a chapter that presents really impressive results in achieving legged locomotion, including the biped version.
The biped is modeled as a five-link planar robot with four actuators located at hip and knee joints.
During the single support phase, the configuration of the biped is defined by five independent variables, but there are only four actuators.
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.
The proposed control method was applied on two different biped robots, and its validity is verified experimentally.
