Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots

摘要

Bridging contemporary techniques in bio-inspired control affords a unique perspective into human locomotion where the interplay between sagittal and coronal dynamics is understood and exploited to simplify control design. Functional Routhian reduction is particularly useful on bipeds as it decouples these dynamics, allowing for control design on a sagittallyrestricted model while providing coronal stabilization. 2D sagittal walking is designed using Human-Inspired Control which produces humanlike walking with good stability properties. This walking is then easily translated to 3D via reduction. The proposed control scheme, which is based on a fundamental understanding of human walking, is validated in both simulation and experiment.