Towards Mimicking Human Walk

Humanoid walking gaits for robots have seen significant development over the last decade. There has been continuous research going on to make the humanoid robot gait similar to that of humans. The ability of a humanoid robot to traverse completely unstructured environments with the ease of humans is a long term goal. Further research in sensors, materials, power, intelligent control, and the interactions between all these, is necessary to achieve this. In the near future there is much more work to be done for improvement of walking gaits in order to move towards this goal.This article describes the kinetics and dynamic balancing of the humanoid walk. The idea is to formulate a strategy to mimic the basic kinetics of human gait and the dynamic balancing. The main focus is on understanding the working of the gyroscopic and accelerometer sensors and their use for the dynamic balancing of the humanoids