Analytical Approach fortheGeneration of Highly Dynamic Gaits forWalking Robots

Thispaperpresents ananalytical approach forthe generation ofwalking gaits withahighdynamic behaviour. The principle istomodify thedynamic effects generated bytherobot directly bytaking into account theintrinsic dynamics oftherobot aswellasthecapability ofitsjoint torques. Inordertoperform this, two criterions basedon dynamics areproposed: the "dynamic propulsion criterion" andthe"dynamic propulsion potential". Thisgeneral approach isillustrated foran under- actuated robotwithout foot, whichcannotbestatically stable. IndexTerms- Analytical dynamics. Dynamiccriterions. Propulsion potential. Walking gait.

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