Concerning Walking Mechanism for Walking Model

Abstract

The main purpose of this research is to develop a mathematical model for human walking motion. We analyzed human walking motion and found that the ZMP (Zero Moment Point) plays an important role. Then, we actually have measured human walking motion precisely and have made sure of that walking mechanism. Based on that mechanism, we have developed the mechanical model and have simulated human walking motion using this model. As a result, we will be able to build the optimal walking pattern.