A solvable walking model for a two-legged robot

Biped human walking and running is a complicated activity involving the coordination of complex motor, sensory and neural systems, [Holmes et al., 2006]. The description of all these processes and their coordination is an enormous task demanding detailed knowledge of many biological processes, eventually some of them unknown. The ability of humans to walk requires a long process of learning by trial and error, ultimately associated with the adaptation of several neural mechanisms during human development. Although the complexity of human walking, engineers, biologists, physicists, and mathematicians have joined efforts to build machines reproducing human movements and walking. Models describing the basic features of walking and running inspired the industry to create robots to perform some human activities [Adams et al., 2000].