ROMANSY 11 pp 165-171 | Cite as

Gait Rhythm Generators of a Two Legged Walking Machine

  • T. Zielinska
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


The gait of currently designed two-legged walking machines differs from the humans’, although the kinematic structures of these machines’ legs frequently imitate human limbs. The paper presents the method of generating the trajectories of hip and knee joint angles resulting in a gait pattern similar to that of a human. For that purpose the solutions of coupled van der Pol oscillator equations are utlised. In the view of many researches these equations can be treated as a good model of the Central Pattern Generator generating functional (also locomotional) rhythms in living creatures. The oscillator equations are solved by numerical integration. The method of changing the type of gait by changing adequate parameter values in oscillator equations is presented (change of velocity and trajectory of legends). The obtained results enable an enhancement of two-legged walking control systems by including gait pattern generators which will assume a similar role to that of biological generators.


Oscillator Parameter Gait Pattern Central Pattern Generator Biped Robot Human Gait 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • T. Zielinska
    • 1
  1. 1.Warsaw University of TechnologyWarsawPoland

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