Walking control of a compass-like biped robot with a constraint mechanism

Abstract

We call such a model consists of two rigid rods connected by a frictionless hinge at the hip, a compass-like model. In this paper, we consider a compass-like model in order to analyze biped robot motion. We are trying to control gait of the model, by inputing torque to the hinge of the hip, and show that the maximal torque input can be reduced by using a mechanism to constrain the angle of the hip hinge.