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Bipedal running through imposition of a stabilizing contact force

Feedback linearization is employed to explicitly control the ground reaction force exerted onto a bipedal mechanism to describe its periodic motion and robustness to floor perturbations. Such description is enabled through kinematic constraints that allow the determination of an inverse for the leg's redundant motion. To determine the biped's stabilizing force, a rest Length Modulated Viscoelastic force subject to the Floating structure's posture control (LMVF) is here derived, yielding an automatic energy regulation of the gait, which is a product of a force feedback modulation paired with dissipation. Following the LMVF description, a speed transition is described parametrically from direct interpretation of the force description dynamics.