Output deadbeat control approaches to fast convergent gait generation of underactuated spoked walker

Achieving robust dynamic walking is one of the most important properties for practical legged robots. This paper proposes two output deadbeat control laws for generating a robust dynamic gait in terms of convergence speed; one generates a discrete-time (digital) control input and the other generates a continuous-time one. We introduce an underactuated spoked walker for analysis, and show that both approaches can generate fast convergent gaits by adjusting the desired settling time through mathematical and numerical investigations. We also show that the continuous-time approach has an advantage in achieving high-speed walking through gait analysis.