CHAPTER 1 INTRODUCTION 1. INTRODUCTION 1.1Bipedal Robot:- The term bi-pedal robot refers to a robot that walks on two legs. In the recent years there has been much interest stimulated in dynamic walking in bipedal robotics and legged locomotion in general. Part of reason for this interest is the need for robot which can operate in human oriented environments. Human presents a very elegant model of locomotion to emulate. The Bipedal robots will operate in the human environment with much