The mechanics of biped running and a stable control strategy

This work presents an analysis of the mechanics of biped running with a heuristic control strategy for stable running. A tractable model of the mechanics is presented through principles, measures, and a time-distributed perspective. This model motivates the control strategy and provides a basis for extending the strategy to more general systems. The control strategy consists of a simple set of four rules, where the key rule considers the leg length upon liftoff. The Steady-State Index is proposed as a characterization of biped running. It identifies and relates the parameters affecting running and has broad applicability to both biological and robotic systems.