A novel generation method for underactuated bipedal gait with landing position control of swing leg based on property of zero dynamics

This paper proposes a novel method for achieving limit cycle walking taking the landing position of the swing leg into account. First, we introduce a model of a planar compasslike biped robot with rigid bent legs, and develop the equations of motion and collision. Second, we propose a control strategy focused on the use of the stance-leg angle as a virtual time parameter to ensure the control of the next landing position of the swing leg. Through numerical analysis, we discuss the relationship between the gait symmetry and mechanical energy restoration. Furthermore, we numerically show that generation of a walking gait following stepping stones can be achieved on the assumption that the robot can visually perceive the road