Kinematic analysis and modelling of biped locomotion systems

This paper presents the kinematic study of robot biped locomotion systems. the mais purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotions variables: step lenght, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequancy response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.