3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization

In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an emphasis on thorough hardware realization. The H-LIP is proposed to capture the essential components of underactuated actuated part robotic walking. robot walking gait then directly synthesized H-LIP. We comprehensively characterize periodic orbits provably derive stepping stabilization via its step-to-step (S2S) dynamics, which utilized approximate S2S dynamics horizontal state center mass approximation facilities controller provide desired step sizes stabilize By realizing sizes, achieves dynamic stable fully evaluated in both simulation experiment Cassie, demonstrates behaviors high versatility robustness.