2023
Design of Impact-Free Gaits for Planar Bipeds and Their Stabilization Using Impulsive Control
RA-L 2023
The problem of designing and stabilizing impact-free gaits is considered for point-foot planar bipeds. A set of geometric constraints, which eliminate impact forces at the time of leg interchange, are used to design the gaits. A family of gaits, where the stride length and walking speed can be chose