Limit Cycle Walking

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Abstract

This chapter continues as follows. In Section 2 we will give a short discussion on walking stability to create a background for the introduction of Limit Cycle Walking. The exact definition of Limit Cycle Walking follows in Section 3. In Section 4 we show how the stability of Limit Cycle Walking is assessed and clarify this with an exemplary Limit Cycle Walking model. Section 5 gives an overview of the current State of the Art Limit Cycle Walkers. In Sections 6 through 8 we will explain how Limit Cycle Walking is beneficial to the performance of bipedal walkers and substantiate this by showing the State of the Art performance. We will end with a conclusion in Section 9.

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