Biped robot limit cycle walking generation considering energy dissipation caused by impact

This paper proposes limit cycle walking generation from impact based linear inverted pendulum model (LIPM). Kinetic energy evolution for LIPM in walking phases is investigated using dynamic and angular momentum analysis. A collection of attack and lift-off leg angles is derived for desired cyclic stable post-impact velocity. To overcome the capture surface comprised of capture points, passing velocity is designed and specific walking pattern is formulated. Walking stability is analyzed considering velocity step changes. Walking gaits and trunk rotation strategies are proposed to overcome velocity perturbation. Simulation is carried out with virtual model control to demonstrate the effectiveness of the generated walking pattern.