Planning Gaits for Underactuated Compass-Biped Robot With Torso

2016

A structured approach to gait planning for a planar underactuated 3-link biped

robot is presented. The method of virtual holonomic constraints (VHC) is employed

to this end. It is shown how this method effectively reduces the dimensionality

of the problem and allows for the biped s dynamics to be re-written in reduced

form. The reduced dynamic system is then used to structure requirements for the

existence of periodic gait-cycles in the robot s state-space. The gait planning task

is then solved in a structured manner by organizing a numerical search that finds

parameterizations of the VHCs that lead to nominal gait cycles for the biped.

NTNU