Can Walking Be Modeled in a Pure Mechanical Fashion

  • Antonio D’AngeloEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)


The aim of this paper is to investigate the role of some mechanical quantities in the challenging task to make a robot walking or running. Because the upright posture of an humanoid is the main source of instability, the maintenance of the equilibrium during locomotion requires the gait-controller to deal with a number of constraints, such as ZMP, whose dynamical satisfactions prevent the humanoid from an harmful fall. Walking humanoids are open systems heavily interacting with a perturbing environment and the rapid loss of mechanical energy could be an hallmark of instability. In this paper we shall show how certain dimensionless parameters could be useful to design the walking gait of a bipedal robot.



This work was partially supported by a collaboration with the Intelligent Autonomous Systems Laboratory (IAS-Lab) of the University of Padua through a Grant of Consorzio Ethics, Abano Terme, Italy, for a three-years project (2014–2016) on a Study on experimenting Exoskeletons in Medical Institutions: we thank Enrico Pagello and Roberto Bortoletto et al. of IAS Lab for their valuable suggestions and discussions.


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Authors and Affiliations

  1. 1.Department of Mathematics and Computer ScienceUdine UniversityUdineItaly

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