Design of Impact-Free Gaits for Planar Bipeds and Their Stabilization Using Impulsive Control

The problem of designing and stabilizing impact-free gaits is considered for point-foot planar bipeds. A set of geometric constraints, which eliminate impact forces at the time of leg interchange, are used to design the gaits. A family of gaits, where the stride length and walking speed can be chosen independently for each gait, is guaranteed to exist. A continuous controller is used to enforce the constraints associated with a desired gait and intermittent impulsive inputs are applied to stabilize the gait. A five-link biped example is used to illustrate the procedure for designing impact-free gaits. The effectiveness of the continuous and impulsive controllers, working in tandem for stabilization of a gait, is shown using simulations.