Biped gait transitions

Algorithms are described for generating biped run-to-walk and walk-to-run transitions. Simple algorithms were developed for those gait transitions by designing strategies for transforming the set of oscillations corresponding to one gait into the set corresponding to the other. For example, the gait transition from running to walking removed energy from the vertical oscillation by shortening the leg during the stance phase to initiate walking. This approach was tested by implementing run-to-walk and walk-to-run transitions on a planar biped robot.