Control of a simulated, three-dimensional bipedal robot to initiate walking, continue walking, rock side-to-side, and balance

Abstract

Physical-based control using center of mass, center of pressure, and foot placement is used to enable a simulated twelve-degree of freedom, seven-link, three-dimensional bipedal robot to lean sideways, pick up its foot and start walking on a flat surface. Energy analysis is used to compel the same simulated robot to do a side-to-side rocking motion and eventually come to a stop. If the robot is pushed hard enough, it will raise its leg that is in the air in the frontal plane to prevent itself from falling. Center of mass and center of pressure analysis is used to enable the same robot to balance on one foot and stand.