Dynamic phenomena during biped walking

This paper presents the energy analysis of a biped locomotion system. Our main goal is to gain insight into the movement strategeis in walking and to search for the optimal locomotion variables that minimise a cost function related to energy. In roder to accomplish this goal, three different indices are proposed: mean absolute power, mean power dispersion and mean power lost. At the same time, the description and analysis of the motion is based on a set of locomotion variables, namely: step length, hip height, hip ripple, hip offset, foot claerance and link lengths. The influence of these variables on the energy flow is discussed and the results compared with those observed in nature.N/