Dynamic performance of biped locomotion systems

This paper presents the energy analysis of a bipedal walking system. The main goal is to understand the movement strategies in walking and to search for the optimal locomotion variables that minimise the energy consumption. In this goal, a set of locomotion variables is used in the description and analysis of motion. The locomotion variables considered include: step length, hip height, hip ripple, hip offset, foot clearance, link lengths and link masses. Based on these variables and their influence on the energy flow, the performance is discussed and the results are compared with those observed in nature.