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In this paper, we present a control scheme aimed at moving an underactuated double pendulum simulating a leg. The system is actuated at the hip and includes a spring at the knee. It interacts with the ground, which is in fact a treadmill, through a telescopic foot made of a linear spring and a damper. The control scheme is different in the 2 phases, swing and stance, and a repetitive step is achieved by switching between these two controls. The paper describes the system, the used models and the control algorithms. It presents also experimental results of the approach.

Can an underactuated leg with a passive spring at the knee achieve a ballistic step?