Abstract
In passive walking, dissipation due to impacts or damping is offset by the use of potential energy supplied by walking down a slope. In this paper, we develop an analytical procedure to prove the existence and find active limit cycles of a rigid biped in 3-dimensional space. From an existing passive limit cycle, we use the theoretical framework of dynamic geometry and energy shaping, to develop a nonlinear feedback control law wich allows the robot to reach stable gaits corresponding to various velocities. Finally, an example that treat a biped robot with knees is presented to illustrate the theoretical results.
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