Gait stabilization of a quasi-passive walker based on energy balance by utilizing a mechanical oscillator

A control method based on energy balance was proposed for gait stabilization of a quasi-passive walker. The mechanical energy is input into the walker by a mechanical oscillator for stable walking. The target trajectory of the mechanical oscillator is determined by online planning of its period, phase and amplitude. The period is determined by the period of lateral motion of the walker based on forced entrainment, and the amplitude is determined based on energy balance. The control method was numerically examined on a changeable slope, and the results showed that the method can increase the environmental adaptability of the walker.