ABSTRACT

This chapter addresses the modeling and control of planar bipedal robots with nontrivial feet, with emphasis on a walking motion that allows anthropomorphic foot action. The stance foot plays an important role in human walking since it contributes to forward progression, and initiation of the lifting of the swing leg from the ground. A stability analysis of a flat-footed walking gait for a five-link biped with an actuated ankle was carried out numerically in, using the Poincare return map. Motivated by energy efficiency, elegant work in has shown how to realize a passive walking gait in a fully actuated bipedal robot walking on a flat surface. During the fully actuated phase, the stance foot is assumed to remain flat on the ground without slipping. The ankle of the stance leg is assumed to act as an actuated pivot. Consider a planar bipedal robot and a gait consisting only of the fully actuated phase followed by an instantaneous double-support phase.