Control of Dynamic Biped Locomotion based on Point-Contact and Virtual Holonomic Constraint

• Passive Dynamic Autonomous Control (PDAC) was established as the novel control framework based on the assumption of point-contact and virtual holonomic constraint.
• The planar smooth biped walking by use of heel-off motion was designed, and the foot impact force and energy efficiency were analyzed.
• The novel control architecture of dynamic biped locomotion based on 3D dynamics was proposed, and the stabilizing control including walking direction controller by means of conserved quantities of PDAC (PDAC Constants) was built.