Soft landing approach for a reduced biped robot model

In this paper, a soft landing approach for a reduced biped robot model is investigated. The reduced robot means the biped locomotion robot not having ankle actuator, so the number of joints is three; both knee and crotch. For such robot model, instead of stabilizing control law after landing, the method of soft landing to ground stably is given. It is represented that the characteristic of inverted pendulum motion is available for the calculation of an approach angle for soft landing. Also it is arrived analytically that the stride can be controlled by using coordinates of center of mass, and such validity is confirmed by some experiments.