Three-dimensional Limit Cycle Walking with joint actuation

This paper describes 3D biped walking generation and control based on Limit Cycle Walking. In our study, we use the simplest possible 3D biped model with three DOFs, incorporating roll and pitch motions in the frontal/sagittal planes, respectively. Our approach dynamically decouples these two motions, stabilizes pitch motion in the sagittal plane via the Limit Cycle Walking approach, introduces robustness for this motion using energy feedback control, and robustness for roll motion based on reference trajectory feedback tracking control. The roll reference trajectory is generated via analysis of the impact dynamics. Performance is verified via simulations.