This paper proposes to plan the bipedal robot sprinting using virtual forces control method owing to the toe joint between the support leg and ground is under-actuated. However, under the virtual forces control, the internal motion of the support leg becomes uncertain and the works of the joint torques may pit against each other during the tiptoe support phase in sprinting due to the added redundant toe joint. To solve this problem, a driving coordination between the knee and ankle joints method that balances the instantaneous works of the two joints by an angular velocity follower for the ankle joint is proposed. Simulations experiments verify the effectiveness of the proposed method.
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