Dynamic bipedal walking with double support phase

This paper presents the dynamic walking of the bipedal robot, in which the long double support phase is used for compensation of the external disturbances (including contact with support surface) for stabilization of the step cycle. Motions of the robot by the single support phase are based on free (ballistic) trajectories of the mass center (ZMP is located under the foot). During the double support phase robot first slows down due the damping features of the control system, then it stops and then accelerates again to the ballistic trajectories. Experiments were performed using a robot "ROTTO" [3].