Anna Jadlovská, Slávka Jadlovská, Lukáš Koska

Modeling, Analysis and Control of the Compass Gait Biped Robot and Extensions

Číslo: 4/2021
Periodikum: Acta Electrotechnica et Informatica
DOI: 10.2478/aei-2021-0003

Klíčová slova: compass gaithybrid systemsrobot walkingunderactuated systempassive dynamic walker

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Anotace: This paper gives a review of recent results in the field of modeling and control of hybrid walking systems with a particular focus on the Compass Gait model. Since dynamic models of biped robots are hybrid in nature, the paper presents an overview of modeling the continuous and discrete dynamics of a hybrid system representing a walking robot. The paper briefly describes the design evolution in underactuated bipedal robots and presents several prominent prototypes, explains a number of related concepts and lists a variety of suitable control techniques.