Trajectory Planning For Biped Walk With Non-instantaneous Double Support Phase

In this paper we present a technique for finding periodic gaits for five-link planar bipedal robot with point feet. Unlike most works that are limited to the consideration of only underactuated single support phase (SSP) we show that this phase change condition is state dependant and extend our approach to the presence of double support phase (DSP). The concept of virtual holonomic constraints is used with full set of constraints during SSP and during SSP to DSP change.