Walking control for 3D biped using variable constraint control

In this research work, we will develop a 3D biped which simulates walking and running motion of human. First, we will explain the the equation of motion of our 3D biped (Runbot 2). Next, we will derive a control strategy of the walking biped which realizes these differential equations as motion pattern. Experimental results suggest that a biped having smooth walking gait will be realized.