Kinematic study of biped locomotion systems

  • F. M. Pereira da Silva
  • J. A. Tenreiro Machado
Part of the IFIP — The International Federation for Information Processing book series (IFIPAICT)


This paper presents the kinematic study of robotic biped locomotion systems. The main 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 locomotion variables: step length, 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 frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.


Biped locomotion locomotion variables kinematics motion planning performance measure 


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Copyright information

© Springer Science+Business Media Dordrecht 1997

Authors and Affiliations

  • F. M. Pereira da Silva
    • 1
  • J. A. Tenreiro Machado
    • 2
  1. 1.Dept. of Control and AutomationModern UniversityPortoPortugal
  2. 2.Dept. of Electrical and Computer EngineeringFaculty of Engineering of the University of PortoPortoPortugal

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