A kinematic approach of walking of a bipedal system based on coordination functions

This paper proposes an analytical kinematic approach to generate a 3D dynamical walking. In the first part, we will explain a new simplified method to carry out the movement of oscillation of a digital bipedal mockup in the frontal plane, with legs being in the oscillation plane during the double support phase. Then, we will use this oscillation combined with a pelvis rotation to realize a first stage of a 3D movement. In the second part, we will carry out a similar analysis, but with legs being out of the oscillation plane in double support phase. This is being done in an attempt to increase the step length and the velocity of the mockup. The advantage of this method resides in its usage of a simple mathematical model as it based on simple functions such as polynomials and inverse trigonometric functions. Moreover, this simple model is analytical and leads to the minimization of the calculation time and thus makes it suitable for real-time applications. In our study we use the analysis of biological data in order to extract intuitive rules that would allow us to identify the coordination coefficients governing the movement strategies. In the last part of this paper we give some results of the application of this method on our mockup.