Generating 1-DOF limit cycle walking at target walking speed by feedforward limit cycle control

This paper proposes the feedforward control systems for generating the limit cycle walking at a target walking speed by an active combined rimless wheel (CRW) model. We propose the feedforward control systems which can design the control input at the beginning of each step based on the mathematical analysis of the initial and target walking states. As a result, the limit cycle walking at the target walking speeds are generated by numerical simulations. In addition, for controlling the walking stability, we extend the feedforward to the two-period stepwise control systems. The limit cycle walking at target walking speed are also generated and the walking stability are controlled by the settling time parameter.