Bipedal walking gait generation based on the Sequential Method of Analytical Potential (SMAP)

This paper presents a method we have called the Sequential Method of Analytical Potential (SMAP). By taking account of a system’s actual capabilities via Dynamic Propulsion Potentials (DPP), this method aims to generate dynamic walking gaits for bipedal robots. The objective is to move the robot by acting directly on the actuator forces. The various accelerations governing the movements of the robot are controlled by direct, precise modification...