Sequential-contact bipedal running based on SLIP model through zero moment point control

This paper proposes a method to realize sequential-contact bipedal running based on the spring loaded inverted pendulum (SLIP) model. SLIP model has some excellent properties for realizing a natural locomotion, therefore some researchers proposed a method to mimic the SLIP dynamics for multi-body system's locomotion. In this paper, we propose a method to control contact conditions of a robot model through handling a zero moment point, and we combine it with a method of embedding the SLIP dynamics to multi-body system. It makes possible to control both the continuous dynamics and the phase transition of the robot model. Furthermore, to consider other sub tasks simultaneously, we introduce a hierarchical feedback linearization and construct the controller for sequential-contact bipedal running. Finally, we show that the proposed method can produce a desired running through the numerical simulations.