Analytical Approach for the Generation of Highly Dynamic Gaits for Walking Robots

This paper presents an analytical approach for the generation of walking gaits with a high dynamic behaviour. The principle is to modify the dynamic effects generated by the robot directly by taking into account the intrinsic dynamics of the robot as well as the capability of its joint torques. In order to perform this, two criterions based on dynamics are proposed: the "dynamic propulsion criterion" and the "dynamic propulsion potential". This general approach is illustrated for an underactuated robot without foot, which can not be statically stable