Stabilization of quasi-passive-dynamic-walking based on delayed feedback control

摘要

In this paper, we introduce a new control method of quasi-passive dynamic walking for a biped walking robot. The control low uses actuators just only to maintain the passive walking. First, focusing on the contact phase of swing leg, the stability analysis of passive walking robot is performed through a discrete-time system of the robot. Second, we propose a new control method of semi-passive walking based on delayed feedback control, which do not require any reference trajectory for walking. Finally, the effectiveness of the control law is shown through several simulations.