Optimal Gait Generation of Constrained Compass Biped Robot via Generating Function Approach

This paper develops an input constrained optimal gait generation method via the generating functions. We first extend the generating function approach to the input constrained optimal control problem by introducing an augmented problem, and then successfully apply it to the torque constrained compass biped walking robot. The developed method enables the robot to be more efficient in the real-time walking, and also makes it more applicable in the complex environment.