Control strategies and algorithms for passive compass-like biped robot

Abstract

The modeling and control for the compass-like biped robot are studied through analysis and numerical simulation. The energy-based control strategy is presented to improve the stability and robustness of the biped locomotion and extend the attraction region of the limit cycle.The slope-invariance control law is then designed to make the biped locomotion invariable to different slopes.Switching between different models for different slopes can be realized by combining the slope-invariance control law with the energy-based control strategy.The average-speed control based on the desired-energy control relates the average moving speed with the desired energy level and introduces a new type of stable limit cycle in the robot's walking.Finally,the future development of the control of compass gait biped is discussed.