Virtual coupling control for dynamic bipedal walking

摘要

In our previous works (2000), we proposed some system augmentation methods for dynamic bipedal walking in order to realize variable walking patterns in real-time, however, the robust performance of the methods were discussed. Based on the observation we propose a new coupling control law considering the flywheel effect for robustness. In this paper the validity of the methods is analyzed and investigated by numerical simulations and experiments.