A novel control algorithm for the foot placement of walking bipedal robots is proposed which can output the optimal step time and step location to obtain a desired walking gait from every feasible robot state. The step time and step location are determined by approximating the robot dynamics with the 3D linear inverted pendulum model and analytically solving the constraint equations. Intensive simulation studies are conducted to check the validity of the theoretical results. The results of this

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... study show that the proposed control algorithm can get the system to a desired gait cycle from every feasible state within a finite number of steps.