The work presented here demonstrates a method of using Acceleration or Dynamic Capability analysis to generate walking gaits on dynamically simulated legged robotic systems. An illustrative example, using a six degree-of-freedom robotic manipulator simulation, demonstrates the major contributions of the method and allows some insight into the extension of the aforementioned method into motion generation of legged systems. Legged motion is accomplished by determining postures which aid in the system's ability to resist impacts more effectively. These positions are chosen at different times, depending on the situation at hand. A simplified control approach is proposed which generates walking motions and rudimentary agility, and a more advanced control method is proposed which allows higher speeds and greater agility but is more difficult to stabilize entirely. Also, a simplified dynamic interaction model is presented which allows for more realistic dynamic simulations without additional computational cost.
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