The problem of designing and stabilizing impact-free, energy-conserving gaits is considered for underactuated, point-foot planar bipeds. Virtual holonomic constraints are used to design energy-conserving gaits. A desired gait corresponds to a periodic hybrid orbit and is stabilized using the Impulse Controlled Poincar\'e Map approach. Numerical simulations for the case of a five-link biped demonstrate convergence to a desired gait from arbitrary initial conditions.

翻译：设计和稳定无撞击、节能的座标问题被考虑用于未完全激活的、近脚的平板两侧。虚拟合金学限制用于设计节能的座标。理想的行进与定期混合轨道相对,并使用脉冲控制波因卡尔地图方法稳定下来。对于双向五连线的模拟表明,从最初的任意状况来看,五连线的模拟显示与所期望的行进趋同。