2006 Volume 126 Issue 8 Pages 1069-1078
In this paper, the effect of double support phase in bipedal walking is investigated, and a new design approach for bipedal waking pattern based on the synchronization of the motions in sagittal and lateral planes is developed. The analysis of the motions both in the sagittal and lateral planes reveals that the motions in these two planes are tightly coupled together. The motion parameters such as walking speed, phase motion time, and phase stride can be easily adjusted simply by altering the start and finish points of double support phases in the lateral plane. Consequently, a new bipedal walking pattern for adjusting walking speed by controlling the double support phase is developed. Moreover, it is pointed out that smooth and fast walking can be obtained by shortening the double support phase after a high instantaneous speed is reached at the end of the acceleration phase. Such a walking pattern is very similar to a walker's pattern in the walking race. The procedures of motion planning are also proposed and a numerical example is presented.