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The problem of designing and stabilizing impact-free, energy-conserving gaitsis considered for underactuated, point-foot planar bipeds. Virtual holonomicconstraints are used to design energy-conserving gaits. A desired gaitcorresponds to a periodic hybrid orbit and is stabilized using the ImpulseControlled Poincar\'e Map approach. Numerical simulations for the case of afive-link biped demonstrate convergence to a desired gait from arbitraryinitial conditions.

Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds