Generation of collisionless walking gait for non-straight-legged biped

This paper proposes a method for generating an underactuated bipedal gait without including state jumps during motion. We introduce a model of a point-footed and non-straight-legged biped robot with a reaction wheel attached to the hip joint, and design two controllers; one is a strict output-following control for generating the leg motion during the single-limb support phase, and the other is a discrete-time output deadbeat control for controlling the angular position and velocity of the reaction wheel to the initial ones. The generated motion draws a symmetric orbit to the origin in the configuration space, but the system parameters must be carefully chosen to guarantee the condition of double-limb support.

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