Impactless sagittal gait of a biped robot during the single support phase

The problem of generating optimal sagittal reference gaits in bipedal walking is addressed. In our study the single-support phase during which the biped reaches its highest instability is considered. The approach developed allows for a fully dynamic model of the biped, and is based on minimizing the integral of quadratic joint actuating torques. Impactless and non-sliding heel-touch is accounted for, ensuring a more stable and easier controlled walking. Optimal motion synthesis is achieved by applying the Pontryagin maximum principle. Two numerical simulations are presented. Computed optimal motions reveal anthropomorphic gait characteristics