Bipedal walking simulation system using OpenGL for humanoid robot

Wei Song, Ya Nan Zhang, Mamoru Minami, Xu Liu

Research output: Contribution to journalArticlepeer-review


Foot model is usually considered as one point or a circle in most bipedal walking simulations for decreasing the modeling difficulty. However, such simulations are less persuasive because the foot model is much different from the real human foot. The dynamic model of a bipedal humanoid robot composed by multi-links was set up by using a graphic presentation software "Open GL" under C++ Builder 6.0 environment. Several different walking styles were analyzed that may exist in a walking sequence including the style of foot rotating with toes-contacting, to make the walking of the robot more like human beings. Switching among those styles depended on different contact situations between the foot and the ground. Control strategy for bipedal walking simulation utilized position feedback and sinusoidal input, and stable walking with dynamic walking styles changing was obtained in the simulation.

Original languageEnglish
Pages (from-to)203-208
Number of pages6
JournalXitong Fangzhen Xuebao / Journal of System Simulation
Issue number2
Publication statusPublished - Feb 1 2013


  • Humanoid robot
  • Open GL
  • Walking control
  • Walking simulation
  • Walking styles changing

ASJC Scopus subject areas

  • Modelling and Simulation
  • Aerospace Engineering
  • Computer Science Applications


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