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Objectives: In this work we create and implement a terrestrial locomotion model inspired in Dove waking scheme and Craig nomenclature for biped robot movement design. Methods: For the model implementation we use the Craig method to obtain the transformation matrix that describes position and orientation of leg joints in Doves. We obtain biological experimental results in a group of Doves (Columbia livia) in order to contrast and complement previous work in terms of energy efficiency. Findings: We propose kinematic models for slow and moderate pace, which were evaluated through energy efficiency analysis. Application: The model offers an alternative for design of mobile robots where the locomotion is performed in irregular terrains since the biped model proposed here, has just two discrete support points in comparison with other types of locomotion such as wheels.


Biped Locomotion, Biped Robotic, Bio-mechanical Motion, Craig Nomenclature, Denavit Hartenberg