Exploiting natural dynamics in the control of a three-dimensional bipedal walking simulation

Natural dynamics can be exploited in the control of bipedal walking robots: the swing leg can swing passively; a kneecap can prevent the leg from inverting; and a compliant ankle can naturally transfer the center of pressure along the foot and help in toe off. These mechanisms simplify control and result in motion that is smooth and natural looking. We describe a computationally efficient algorithm which exploits these natural mechanisms. This algorithm is an extension to one for planar walking [16]. Lateral stability is controlled via foot placement and ankle torque. We present results for a seven link, twelve degree of freedom, biped simulation which walks on flat ground.