Assumptions and approximations in the modeling of bipedal walking using the model of inverted pendulum

This paper is taldng issues of biomechanical modeling structure based on inverted pendulum in consideration. It is structured in 4 parts. In the first part Introduction, handles the actual status and views on the subject in the specialized literature. The second part Analysis of bipedal walking highlights essential aspects to be considered for modeling of bipedal walking. The third part the model of inverted pendulum in biomechanics, is presenting the mathematical form of the model. The last part Conclusions and perspectives, emphasizes the views of the authors on the problem addressed, and directions for future research. This paper approaches one of the possibilities considered in the specialized literature for the biomechanical structures, namely inverted pendulum.