Biped Walking Based on Moving Principle of Eccentric Rimless Wheel

Abstract

In this paper, we show novel biped walking generation based on eccentric rimless wheel to achieve efficient and stable biped walking. Eccentric rimless wheels have property to naturally rotate their dynamics. Moreover, these walking speeds converge to constant velocity since the kinetic energy of the eccentric rimless wheel converges to constant value. We embed the property of the eccentric rimless wheels in the biped control to achieve mimicking the forward rotation of the eccentric rimless wheel. The property of the eccentric rimless wheel is mathematically shown in the paper. We demonstrate the effectiveness of the proposed method through numerical simulations