Bipedal walking pattern design considering the effect of double support phase

In this paper, under the condition of acceleration continuance, the effect of double support phase in bipedal walking is investigated, and a new design approach for bipedal waking pattern based on the synchronization or 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 1 bases in the P lateral plane. Consequently, a new bipedal walking pattern for adjusting walking speed by controlling the double support phase is developed.