Optimal guaranteed control for robotic gait

In this paper, An energy-effective gait is designed based on the mechanism of passive dynamic walking using piecewise torque and virtual gravity force method. At the same time, to keep the stability and guarantee the cost of muscle while biped robot walking, the guaranteed cost optimizing problem of the system is investigated. This problem can be solved by using ‘Multi Virtual Gravity’ method. And the stability of these gaits can be guaranteed by optimal guaranteed cost controller based on LMI(Liner Matrix Inequality). Finally, the stability of the closed-loop system are attained and the cost of energy are guaranteed too. Here, the guaranteed cost control with natural-looking passive dynamic walking mechanism is applied to the kneed biped walker system with bended stance knee. This result seems to be novelty.