Abstract
In this paper, we propose a method for generating a stable stealth gait on frictionless road surface without including the double-limb support phase for biped robots. First, we introduce a model of a biped robot with an upper body, and derive the conditions to maintain the horizontal ground reaction force at zero. Second, we derive an approximate analytical solution for the target initial state using the linearized equation of motion. Third, to generate a stealth walking gait of the nonlinear model, we propose a numerical method to identify the target initial state based on the result of the linearized model, and evaluate the mathematical results obtained through numerical simulations. Furthermore, we discuss the effect of semicircular feet on the improvement of energy efficiency.
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