Realization of 3-dimensional dynamic walking based on the assumption of point-contact

In this paper, we develop the lateral motion control based on Passive Dynamic Autonomous Control (PDAC) in order to solve two following problem in previous paper: 1) the steplength control in the sagittal plane results in the delay of tine step cycle since walking period is not controlled taking the sagittal control effect into consideration 2) error of the lateral dynamics is big since the effect of the sagittal motion on the lateral dynamics is neglected. At first, the walking period is controlled, by adjusting the amplitude of side-to-side rocking motion. Secondly, the value to lengthen the lateral inverted pendulum is decided according to the sagittal motion effect on it By means of this new lateral control in addition to sagittal steplength control, the 3-dimensional stable dynamic walking based on the robot inherent dynamics is realized.