How Bipedal Locomotion Works

Walking on two legs is one of the most challenging problems in robotics. Here's how modern humanoid robots achieve stable bipedal locomotion.

The Challenge

Unlike wheeled robots, bipedal robots must:

• Maintain dynamic balance
• Handle uneven terrain
• Recover from disturbances
• Minimize energy consumption

Key Technologies

Zero Moment Point (ZMP)

The ZMP is a point on the ground where the sum of all forces equals zero. Keeping the ZMP within the support polygon ensures stability.

Inverse Kinematics

Calculating joint angles needed to achieve desired foot positions in real-time.

Model Predictive Control (MPC)

Predicting future states and optimizing control inputs to maintain balance.

Whole-Body Control

Coordinating all joints simultaneously to achieve smooth, natural motion.