Impulsive Torque Control of Biped Gait With Spiking-Oscillator-Controlled Power Packet Dispatching System

This paper presents a biped gait control method based on impulsive actuation. For this purpose, we propose a novel approach based on integrated processing of power and information. That is, electric power used for actuation control also takes the role of information processing for gait pattern generation. This is realized by a combination of two concepts: power packetization and pattern generation with spiking oscillators. Exploiting the impulsive nature of the two, we establish an electrical power distribution system controlled by spiking oscillator. Numerical simulation with an example setup demonstrates a successful gait generation.