in: Mobile Robotics. Solutions and Challenges, Mohammad Osman Tokhi,O Tosun,Gurvinder S Virk,H L Akin, Editor, World Scientific Publishing , New York, pp.853-860, 2009
Abstract: A five link biped human model is considered for understanding the system which underlies the bipedal walking. These five links consist of torso, femurs and thighs. The phases which generate the bipedal walking are described. Next, the kinematic and dynamic equations which compose the motions of the phases are explained in detail. Finally, the corresponding desired trajectories the model joints are discussed and the system describing the model's behavior in the single support phase (SSP) is constructed by using the equations which are mentioned before. However, an accurate model of biped model is not achieved, due to the existence of uncertainties of various kinds such as unmodeled dynamics and parameters. With this study, bipedal human motion is described fundemantally in mathematical shape and the inverse dynamic analysis of motion is discussed.