The Analysis of Biped Locomotion by the Extended Ballistic Model : Construction of Model and Simulation

In this paper a new model is developed to explain complex biped locomotion. This model is based on a ballistic walking model which assumes no torque on any joints in the swing phase, and uses the penalty function to solve the constrained dynamics of the stance phase and the swing phase. The computer simulation using the model showed that successful walking requires; (1) equality and inequality constraints such as to lock the knee of the stance leg extended, (2) the turning point of the joint torque in order to move the center of gravity of the body then the swing leg forward, (3) the ankle torque of the swing leg in order to avoid stumbling.