A full bio-inspired bipedal gait locomotion system

Abstract

Modeling the biped gait locomotion is an attractive subject in various fields of study. Thus far, several types of models are proposed in the literature to generate the stable and continuous walking cycles. These methods have a vast application in controlling the limbs of humanoid and bipedal robots. However, these approaches are not suitable for describing the human locomotion. This is for their dissimilarities to the human neuromuscular systems. Due to this deficiency, in this paper a new model is presented for bipedal gait that completely inspires by human neural controlling system. The major challenges of this model have been generation of rhythmic motion and coordination between the legs. The biological researches proved that these issues are accomplished in human central nervous system (CNS) by the central pattern generator (CPG) together with the neural reflexes. Thus, a two level half center CPG is used for producing the periodic movements in the leg. Further, for keeping the coordination, a Ia reflex reversal is employed that biologists confirm that this pathway regularly exist in the human CNS. The simulations showed that this plan well generates the stable gait patterns in addition to have coincidence to the human neuromuscular system.