Open-loop stable running

Abstract

We present simulated monopedal and bipedal robots that are capable of open-loop stable periodic running motions without any feedback even though they have no statically stable standing positions. Running as opposed to walking involves flight phases which makes stability a particularly difficult issue. The concept of open-loop stability implies that the actuators receive purely periodic torque or force inputs that are never altered by any feedback in order to prevent the robot from falling. The design of these robots and the choice of model parameter values leading to stable motions is a difficult task that has been accomplished using newly developed stability optimization methods.