Biped walking by elastic potential energy and control strategy

Based on passive dynamic walking, we proposed a simple biped walking method on level ground by using elastic potential energy. To explain its working principle, the process of energy compensation is analyzed. The influences of different time delay control on the gait, walking performance, energy efficiency and stability of the model are studied by numerical simulation. Results shows that this walking method preserves the gait evolution character of passive dynamic walking and the control strategy with small time delay can improve the walking speed, while with large time delay it can improve the convergence speed from little disturbance. This research provides theoretical guidance to improve the walking performance and the robustness of the biped walking robot in practice.