Swing leg kinematics for the bipedal walking robots

Abstract

In this paper we demonstrate how the Robotic Technology theories are applied to solve the real world problem in bipedal walking of robots. Since there has been an increasing interest in bipedal locomotion, the modeling of swing leg is much important. The rhythm of the bipedal walking mainly depends on swing leg kinematics and condition of the walking path. Nowadays, the most interesting robot locomotion is ramp walking. In this paper we derived kinematics only for upward walking. The kinematics for downward walking could be derived effortlessly utilizing the same approach with some modifications.