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Ballistic Control for Biped Walking with Pneumatic Actuators

Walking is a complex behavior that emerges from interaction between the agent body and the terrain. To realize adaptive dynamic walking by an artificial agent, therefore, not only its body and control dynamics but also the dynamics of the terrain should be taken into account. This paper describes a biped walker with pneumatic actua- tors and a ballistic controller that only applies driving force in a limited period of time to utilize the dynamic property of the robot body. Feedback is designed based on the ballis- tic control, which is derived by estimation by experimental trials.