Stable Walking Gait Design for 5-links Underactuated Planar Biped Robot

Abstract

Walking gait is the first component that determines whether a biped robot is biomimetic or not. This study based on combination of Zero Dynamics and Feedback Control is to present the simple method of stable walking gait design. The model used in this study is 5-links planar biped robot with point feet and 1-DOF underactuated in single support phase. Double support phase is taken place at the moment of leg support exchange. The stability of periodic walking motion at a given fixed speed is proved by simulation results.