3-D biped walking using double support phase based on the assumption of point-contact

This paper describes a three-dimensional biped walking based on the assumption of point-contact. Most of biped walking control methods based on point-contact assume that foot-contact is completely inelastic collision and it occurs for a moment. Thus, it is difficult to realize biped walking when the assumptions are not satisfied. In order to solve this problem, we propose a three-dimensional biped walking control using a double support phase based on Passive Dynamic Autonomous Control (PDAC) that is one of point-contact methods. By use of the double support phase, the robot dynamics converges to stable orbit even if a disturbance happens at a foot-contact. Also, this paper introduces an adaptation control method of the PDAC constants that facilitates stabilization. Finally, the proposed biped walking algorithm is verified by numerical simulation.