Limit cycle walking on ice

This paper investigates modeling and control of a limit cycle walker that walks sliding on the ice. We introduce the model of an underactuated spoked walker for analysis and analyze the collision model on the assumption of sliding contact with the ground to identify the condition for achieving instantaneous exchange of the stance leg. We also develop the equation of motion incorporating dynamic friction in sliding contact. Numerical simulations show that the walker can generate stable walking gaits by applying a simple control of the torso.