Transferring Human Biped Walking Function to a Machine -Towards the Realization of a Biped Bike-

In our study, we accomplished human walking motion in 2D, using a biped model with simple bar-like legs, and reciprocal leg stretch-contraction motion. Although extremely simple, this model possesses common characteristics to that of human biped walking, such as normal step length, duty factor, and reaction force patterns. We found that, by using additional stretchcontraction mechanisms to the knees, the same kicking and sinking motion can generate slopeclimbing motions similar to that of walking on level ground.