The Passive Energy Tracking Control Law of the Compass Bipedal Robot

摘要

Some basic passive energy tracking control strategies on the passive compass biped, with controller added at the hip and at the ankle respectively following the model Goswami has presented in 1997, has been addressed in the paper. The idea is, with the use of the hip and ankle control respectively, to attain to the reference energy of certain limit cycle more efficiently than that without control and also to attain to any target limit cycle we expect within some region. In addition, we analyze the global control property on the robots in detail and moreover a comparison between the simply ankle and hip control respectively has been discussed, Consequently, a result comes out that both the control laws we presented will enlarge the basin of attraction of the limit cycle in great degree.