Control of the Passive Dynamic Gait of the Bipedal Compass-Type Robot Through Trajectory Tracking

摘要

This work consists of controlling the bipedal compass-type robot in order to stabilize its passive dynamic gait. The locomotion of such bipedal robot is modeled by an impulsive hybrid nonlinear system, which can generate surprising phenomena such as chaos and bifurcations, by varying some parameters. In order to make the walk of the compass-type bipedal robot to be periodic of period 1, we propose two control approaches. The first control method is based on tracking a predefined passive dynamic walking generated by the model itself. The second control approach is based on following an online planned trajectory using the 4th-order Spline function. Finally, we show some simulation results revealing the efficiency of the two proposed control approaches in the control of the passive gait of the bipedal compass-type robot.