Biped robots are more versatile than conventional wheeled robots, but they tend to tip over easily. The dynamic stability of a biped robot needs to be maintained during walking. In this paper, a novel approach to compute dynamically stable walking motions of a planar six degree-of-freedom biped is presented. This approach is analytical and is based on the need for periodicity of the motion. The resulting gait satisfies the dynamic stability criteria. Sets of joint motions for different step sizes and speed of walking, i.e., quasi-statically and dynamically stable walking patterns, can be obtained.
