Investigation of the Dynamics and Repeatability of Bipedal Gait

A five-link sagittal plane locomotion model and a sliding mode controller were developed to study the effects of locomotion parameters on the repeatability and symmetry of motion. Five constraint relations were applied to the bipedal model. Four constraints were derived from experimental data, and the fifth constraint relation came from the ability of individuals to maintain their erect body posture during ambulation. A sliding mode controller was developed to generate the actuator torques so that biped could accurately follow the desired trajectories imposed by the constraint equations. Numerical simulations were carried out to demonstrate the application of the proposed model and control scheme.