Stable Gait Generation of Impaired Biped Robot with Reaction Wheel In this paper, we propose two methods for stable gait generation of a biped robot with damaged motor on oneside. First, we derive the dynamics and control method. Only single control torque between the hip and one leg is applied by reaction wheel or one more reaction wheel act on damaged leg. Second, we numerically show the period2 gait of this dynamic walking. Finally, the gait properties are analyzed via parametric study. The results show that by adjusting the target control time for the actuated swingstance leg separately and appropriately with only one input, the impaired biped robot can walk steadily. Add one more reaction wheel on the damaged leg, Not only steadystate gait of the robot can be generated, but also its stride length and walking speed can be controlled. Consequently, the potential barrier can be overcome successfully.

System Design and Balance Control of a Bipedal Legwheeled Robot The combination of wheels and humanoid robots is a promising way to improve the performance of bipedal robots in agility, moving speed, and energy efficiency. This combination enables the robot to move faster on flat ground, which can effectively improve the adaptability of the biped robot in application scenarios such as logistic distribution, inspection and home services. This paper introduces a 6DOF bipedal legwheeled robot SR600, which has two actuated wheels at the end of the robot shanks, and achieves its balance and locomotion through wheeldriven approach. SR600 is mainly composed of five parts: a waist, two thighs, and two shanks with wheels. It is modeled as a variablestructure wheeled inverted pendulum and we derived its kinematics model based on the center of gravity constraint. Control strategies for balance and locomotion of SR600 are handled by proportional integral differential (PID) controllers. Finally, several practical experiments are conducted to validate the feasibility of the robot mechatronic system and the balance control strategies.