Determination of the initial condition for stable gait cycle of biped robot

Researches are under way based on the concept of passive dynamic walking to improve the efficiency and to realize more natural gait of controlled biped robot. In this research, we investigated the energy based method to find the initial condition for stable one-period gait cycle. The energy balance method, we proposed here, is easier way than the conventional approaches in finding the proper initial condition. We derived the energy relationship during stable one-gait cycle and simulated with MATLAB based on the simplest passive walking model. This concept will be applied to the more complex models.