In this paper after reviewing the history of biomechanical researches on biped movement, in order to achieve a deep insight on the structure and bio-mechanics of human body, capability of proposed simple models in predicting ground reaction force (GRF) pattern has been investigated and finally an optimized inverted double pendulum with compliant joints is suggested. The results for GRF pattern during single stance phase for this model were incredibly satisfactory. Beside the great potentials of inverted double pendulum with compliant joints model in explaining the double peak appearance of vertical GRF, it also follows well the kinematical behavior of human leg during single stance phase. These results can be applied vastly in optimizing biped robots and also can be used in other fields like biomechanics, kinesiology and rehabilitation technology.

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