Abstract
This paper proposes a method to generate a stable stealth walking gait on frictionless road surface without double-limb support phase for a biped robot, and discusses the effect of semicircular feet on the gait properties. First, we introduce a mathematical model of a biped robot with an upper body and semicircular feet, and develop the control law to keep the horizontal ground reaction force at zero while achieving trajectory tracking control of the hip joint angle. Second, we derive an approximate analytical solution for an appropriate initial state of the robot based on the linearized equation of motion. Third, we perform numerical simulations of the linearized model and investigate the effect of the semicircular feet. Furthermore, we extend the method to the nonlinear model. The initial state of the nonlinear model is obtained by the analysis of the linearized model. We numerically investigate the gait generated by the nonlinear model.
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