An orbit based control for biomimetic biped walking

One of the main challenges in the control of biped walking is to translate the understanding gained from passive walkers to active systems. In this paper, an active/passive hybrid walking control method is studied. Firstly, a two-point walking pattern is proposed according to the structure of human feet and the features of human walking. Secondly, the energy cycle of the proposed walking pattern is investigated. Based on the energy cycle, an orbit based control method with periodic stability is proposed. Thirdly, a finite state based method is developed to implement the walking control, including the energy input, stance leg and swing leg control. Finally, a 2D simulation system with an 8 DOF planar biped robot is developed to verify the proposed theory and method. Simulation result exhibits a steady walking similar to that of human.