Modeling, Analysis and Control of the Compass Gait Biped Robot and Extensions: A Review
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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2021-12-01
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| Series: | Acta Electrotechnica et Informatica |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/aei-2021-0003 |
| Summary: | 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. |
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| ISSN: | 1338-3957 |