Simulation study on fast biped walking based on self-excitation

This paper presents simulation study of a new walking gait of four-link biped model which is self-excited by the hip joint torque proportional to the absolute angle of the swing shank. By holding a bending angle at the knee of the support leg, the biped model can walk faster than the straight support leg model. The influences of the parameters, such as feedback gain, foot radius, ankle torque, mass ratio and the length of the thigh and the shank etc. on the walking speed and stability, are discussed as well.