On optimal swinging of the biped arms

A ballistic walking gait is designed for a planar biped with two identical two-link legs, a trunk and two one-link arms. This seven-link biped is controlled via impulsive torques at the instantaneous double support to obtain a cyclic gait. These impulsive torques are applied in six inter-link joints. Then infinity of solutions exists to find the impulsive torques. An energy cost functional of these impulsive torques is calculated to choose a unique solution by its minimization. Numerical results show that for a given time period of the walking gait step and a length of the step, there exists an optimal swinging amplitude of arms. For this optimal motion of the arms, mentioned above cost functional is minimum