Three-Dimensional Simulation of Walk of Anthropomorphic Biped

The work presented in this paper seeks the development of a new approach of three-dimensional walk simulation of anthropomorphic biped robots. Our approach is based on a three dimensional extension of previous work which introduced a reference structure and a reference gait modified by spatial and temporal transformations of the ankle trajectory (Bruneau et al., 1998). The three main points explained in this paper are the following: in a first part, the 3D-biomechanical data of the angular joints and the main geometric and inertial characteristics of a standard human being are described. Secondly, in order to carry out simulations of the dynamic behavior of an anthropomorphic biped, inverse kinematics of one leg with six degrees of freedom are given. Thus, angular joints can be obtained by the knowing of the positions and orientations of the foot relatively to the hip. This method permits an interactive change of these positions and orientations to modify the locomotion cycle. Finally, the first steps of a three-dimensional walk is easily obtained with our method.