Target System Parameter Search Algorithm for Generating Steady Gait of Water Surface Walking

Abstract

This paper discusses a method for generating a steady gait of water surface walking. First, we introduce a 6-DOF walking model and outline the system dynamics. Second, we propose algorithms for calculating the target upper-body angle and step period that can make the time integral of the control torque of the flywheel for one step zero. In addition, we mathematically derive the target initial angular velocity of the flywheel.