3D dynamic walking based on the assumtpion of point-contact

• PDAC(Passive Dynamic Autonomous Control): The control method to realize the natural dynamic motion by describing whole robot dynamics as 1-dimensional autonomous system based on the assumption of point-contact and Virtual Constraint.
  
  
• Realization of 3D natural dynamic walking by applying PDAC to 2D dynamics in both the lateral and sagittal plane.
  
  
• Stabilization analysis of the lateral and sagittal dynamics, and design of the higher layer controller to decide step-length and walking period based on the minimum energy consumption.
  
  
• Proposal of control methods to achieve the stable dynamic walking by applying PDAC to 3D dynamics based on the inverted pendulum model.