This is related to construction of a bipedal robot. I have a doubt regarding the stages involved in walking of a biped. In the one leg support phase, when the body moves in a circular path about one leg, who is providing the force? How can the joint at the knee or hip provide the force for the body to rise and move forward?
Bipedal walking has been aptly compared to the art of controlled falling. And once we consider that perspective, it's a little easier to describe what's taking place when someone is walking.
Roughly speaking, the following stages occur during a single step:
- Subject's stepping foot is lifted up through a combination of the quadriceps and gluteus muscles.
- The subject's center of gravity is shifted forward, and the subject starts to fall forward. This is where forward motion from walking comes from.
- Subject places stepping foot on the ground and stops the falling motion.
- Various minor adjustments are made to assure both forward and lateral stability.
From there, the process repeats for the next step(s).