Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds

10/26/2022

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by   Aakash Khandelwal, et al.

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The problem of designing and stabilizing impact-free, energy-conserving gaits is considered for underactuated, point-foot planar bipeds. Virtual holonomic constraints are used to design energy-conserving gaits. A desired gait corresponds to a periodic hybrid orbit and is stabilized using the Impulse Controlled Poincaré Map approach. Numerical simulations for the case of a five-link biped demonstrate convergence to a desired gait from arbitrary initial conditions.