Dynamic walk control of a biped robot along the potential energy conserving orbit

To reduce the complex walking dynamics of a biped, a particular class of trajectories derived by application of gravity compensation to an ideal biped model is considered. The trajectories have following properties: (a) the center of gravity of the body moves horizontally, and (b) the horizontal motion of the center of gravity can be expressed by a simple linear differential equation. The trajectory on which the center of gravity moves is named the potential energy conserving orbit. Based on its simple dynamics, the control laws for the dynamic biped walk are formulated. It is shown that the walking motion is determined by the support leg exchange. Moreover, robust realization of the walking control is considered. An experimental walking machine was designed as a nearly ideal biped model