A hybrid external system for the generation of biped locomotion

For the gait pattern planning of a biped running, we proposed a hybrid external system for the periodic orbit generation. Comparing with traditional motion planning methods where the trajectories were approximated by polynomials, our proposal is more general and systematic. The manifold of initial state and the selection of parameters of the external system are addressed. The output of the hybrid external system corresponds to the periodic trajectory of joints. The hybrid external system is robust to state disturbance. Basing on the nonlinear regulation theory, the biped robot can be controlled to asymptotically track the hybrid external system.