Asymptotically stable gait generation for biped robot based on mechanical energy balance

This paper investigates dynamic bipedal gait and its stability from the mechanical energy balance point of view. The equilibrium points at impact in a dynamic gait are uniquely and systematically determined by two constraint conditions; one is the constraint on restored mechanical energy, the other is the constraint on impact posture. The dynamic gait then becomes always asymptotically stable around the equilibrium points, and this is shown by a simple recurrence formula of the pre-impact kinetic energy. The validity of the method is numerically confirmed via gait generation by virtual passive dynamic walking.