How to achieve various gait patterns from single nominal

TL;DR

This paper presents a method for real-time modification of a biped's gait to achieve different walking patterns like speed changes and turning, while maintaining stability without full dynamic re-computation.

Contribution

It introduces a novel approach for on-line gait adjustment that preserves stability during dynamic modifications without recomputing the entire dynamics.

Findings

Speed-up and slow-down gait modifications are feasible.

Turning gait modifications can be stabilized.

Dynamic stability can be maintained during gait changes.

Abstract

In this paper is presented an approach to achieving on-line modification of nominal biped gait without recomputing entire dynamics when steady motion is performed. Straight, dynamically balanced walk was used as a nominal gait, and applied modifications were speed-up and slow-down walk and turning left and right. It is shown that the disturbances caused by these modifications jeopardize dynamic stability, but they can be simply compensated to enable walk continuation.