Effect of increase in single support phase on walking speed of a biped robot

Fast motion of bipeds is an interesting subject for researchers. It is well known that for a specified biped, with certain physical parameters and actuation capability, change of kinematic parameters of motion may change the speed of motion. Among such parameters is the share of single support phase (SSP) in one complete step. This work presents a parameter study in which a phase-plane analysis for minimum time motion of a biped is used to find maximum speed of biped for different values of SSP share in one step. A frame work is given for minimum time solution which fulfills zero moment point criteria for stability and friction condition for slippage prevention in addition to some kinematic constraints which guarantees normal pattern for walking. Parameter study is done through numerical simulation using the introduced algorithm.