Fast convergent gait generation for underactuated biped based on output deadbeat control

This paper investigates the stability principle underlying limit cycle walking of an underactuated biped and proposes the method for generating fast-convergent bipedal gaits. First, we revisit our previous results and simplify the transition function for the state error of the stance phase. The simplified function without including step period is written as the ratio of the steady angular velocities. Second, we apply a discrete-time output deadbeat control to biped gait generation. We mathematically show that the output deadbeat control has the potentiality to achieve fast-convergent gait generation. The validity of the proposed method is investigated through numerical simulations.