Abstract
In recent years, a focus has been on research of biped walking robots. Improvement of stability from beginning of walking of the biped robot to the stop is one of the research topics. In our research, we analyzed walking by using a linear inverted pendulum in which the center of gravity doesn't move vertically. The condition of switching the supporting leg was defined by using kinetic energy. We examined the stride, the change of speed, and the number of steps needed for a linear inverted pendulum robot to stop walking.
