REN-CHYUAN LUOSheng, J.J.ShengChang, P.-H.P.-H.Chang2020-06-162020-06-162013https://scholars.lib.ntu.edu.tw/handle/123456789/502541This paper proposes limit cycle walking generation from impact based linear inverted pendulum model (LIPM). Kinetic energy evolution for LIPM in walking phases is investigated using dynamic and angular momentum analysis. A collection of attack and lift-off leg angles is derived for desired cyclic stable post-impact velocity. To overcome the capture surface comprised of capture points, passing velocity is designed and specific walking pattern is formulated. Walking stability is analyzed considering velocity step changes. Walking gaits and trunk rotation strategies are proposed to overcome velocity perturbation. Simulation is carried out with virtual model control to demonstrate the effectiveness of the generated walking pattern. ? 2013 IEEE.Kinetic Energy; Limit Cycle Walking; LIPM[SDGs]SDG3Energy evolutions; Inverted pendulum model; Limit cycle walkings; LIPM; Velocity perturbation; Virtual modeling; Walking pattern; Walking stability; Computer simulation; Energy dissipation; Intelligent systems; Kinetic energy; Kinetics; Robotics; Walking aids; Velocityconference paper10.1109/ARIS.2013.65735272-s2.0-84883380407https://www.scopus.com/inward/record.uri?eid=2-s2.0-84883380407&doi=10.1109%2fARIS.2013.6573527&partnerID=40&md5=443095fca76b215479537caaf24f9961