Abstract
This paper proposes a novel method for generating efficient dynamic bipedal gait imitating the property of virtual passive dynamic walking. The control input in this method can be synthesized without including any singularities, and generates constant-like torque. A simple underactuated biped robot with an upper body incorporating a bisecting hip mechanism is introduced for the simulation model. We also theoretically investigate what effect the upper body had on the robot's driving mechanism, and show that it accelerates or disrupts the natural forward-swinging motion of the swing leg. Numerical simulations prove the effect, and show that the generated gaits exhibit period-doubling bifurcation.
