Dynamic Walk Control of a Biped Robot with Potential Energy Conserving Orbit

gravity moves is named, the •gPotential Energy Conserving Orbit.•h Based on these properties, control laws were formulated for walk initiation, walk continuation, and walk termination. The walking speed is controlled through the leg exchanging condition. The possibility of dynamic walk of a biped robot has been confirmed by computer simulation. The manufactured walking machine has 4 DC motors in its torso, and has ostrichlike legs which have parallel link structure. Using this machine, we realized 5 steps of dynamic walk, including walk initiation.