Speeding-Up method for biped limit cycle walking using asymmetric swing-leg motion

In this paper, we show a novel speeding-up method for limit cycle walking using asymmetric swing-leg motion. Humans skillfully achieve fast dynamic walking on various environments. The swing-leg motions are synchronized with the stance-leg motions in dynamic walking and the trajectories of the swing-leg are asymmetric with respect to the coronal plane. We expect that biped robots achieve fast limit cycle walking using the asymmetric swing-leg motion. We numerically and mathematically show that the proposed method generates propulsive effects and increases limit cycle walking speed.