Abstract
A three-dimensional musculoskeletal model of human body with a command generator to the muscles is proposed to analyze biped walking in this paper. The original command generator is modified to allow larger delays in the transmission line of feedback passes. It is shown that an appropriate walking pattern can be obtained even in cases when there exist 5 msec delays in the transmission lines. This means that the proposed command generator suggests the structure of neural rhythm generator of human nervous system.
