Controller based on Lyapunov for a class of running robot

The paper treats the control problem of a class of running robots. First, the gait of the standard motion is investigated. The state variables are analysed and the state constraints are defined. Two inverted pendulum models are discussed, with linear spring model and with rotational spring model. The dynamic equations for the stance and flight phases are inferred. The control law for the stance phase is proved. Lyapunov techniques are used for determining the asymptotical stability of motion. Numerical simulations illustrate the efficiency of the results.