Two-dimensional analysis of dynamic biped locomotion based on feet slip

Abstract

In this paper, two-dimensional analysis of biped sliding dynamics is considered with the goal of achieving high-speed dynamic locomotion. First, the dynamics of a biped robot based on feet slip are derived and the state transition is discussed. Next, horizontal gait and a somersault are used to verify the analysis as examples of dynamic locomotion based on feet slip. The results show a 2-DOF biped robot taking short rapid repetitive steps using frictional asymmetry and theoretically can make one revolution in the air using torque asymmetry.