UWEE Tech Report Series

Simulation of Bipedal Walking


Margaret M. Skelly and Howard Jay Chizeck

bipedal locomotion, walking, biomechanics, simulation, stiffness


A 3D computer model of sustained bipedal walking is presented. It is intended be used as a development tool for walking controllers. The direct dynamic simulation has 8 segments, 19 degrees of freedom and is driven by prescribed joint moment and stiffness trajectories. Limited feedback in the form of a proportional-derivative controller provides upper body stability and allows walking to progress for multiple consecutive steps. The joint moment and stiffness trajectories are specified in coarse block segments. By changing the intensity of hip extensor activity during terminal stance the walking stride length can be modulated.

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