Control methods of biped robot

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Dr. Harmati István
Department of Control Engineering and Information Technology

In this paper, I present the control methods for bipedal robots devised by Fumihiko Asano and his colleagues, followed by simulations to demonstrate their practicality and efficiency. I split this task into two main sections, based on the number of models presented:

1. Stable and energy-efficient control of a compass biped

2. Stable and energy-efficient control of a kneed biped that prevents foot scuffing

For both models, I present the initial conditions and the characteristics of their movement. The goal is to provide constant and energy-efficient control during a stable walking cycle. The concept of “virtual gravity” will be the basis for our control methods, leading to virtual passive walk. The control for the compass biped is then extended to form a generalized control law, and the two methods are combined into a hybrid control. For the kneed biped, a multi virtual gravity field is employed, which generates a different virtual gravity effect for each joint. Also, the shin of the swing leg is actively locked to prevent the tip from scuffing the floor, and virtual coupling control is used to help stabilize the gait, even in the event of environmental forces.


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