Generation of Stealth Walking Gait for Underactuated Biped with Semicircular Feet Using Linearized Model

Abstract

This paper proposes a method for achieving high-speed stealth walking of an underactuated biped without including the double-limb support phase, and discusses the effect of semicircular feet on the gait properties. First, we introduce a model of a planar underactuated biped with an upper body and semicircular feet, and derive the approximate target initial state of the upper body by using the linearized equation of motion. Second, we conduct numerical simulations to observe the typical stealth walking gaits, and analyze the changing tendency of the upper body motion with respect to the foot radius. Furthermore, we discuss the advantage of semicircular feet in walking on a slippery road surface from the viewpoint of the ground reaction force.