Trajectory Design and Tracking-Based Control of the Passive Compass Biped

摘要

The locomotion mechanism of the passive-dynamic compass-type biped robot is modeled by an impulsive hybrid nonlinear system and it is the best model for mimicking the human walking. This work is concerned with the study of the different problems generated by this walk despite its simplicity such as chaos and bifurcations, and to propose a control-based solution in order to have a walk similar to that of the human. For this objective, two control methods relying on the trajectory design are proposed: a method based on the passive dynamic walking and a method based on the tracking of a planned trajectory by a fourth-order Bézier function. Finally, some simulation results are presented to show the control efficiency of the passive walk of the bipedal compass robot.