Some Control Strategy on The Compass Gait Biped

摘要

This paper demonstrates the existence and the stability of symmetric and asymmetric passive gaits using a simple nonlinear biped model and also continues the investigation into the control of the compass gait biped. Two control strategies, the so called energy based control slope invariance law presented by Spong and also a specified average speed of progression control law presented by Goswami have been discussed respectively in detail. Both control strategies are on the basis of potential energy shaping control. The specified average speed of progression control law will gain the advantage in establishing the relationship between the average speed of progression and the target energy to improve the robot performance as well as generating new gaits. While the energy based control slope invariance law will get away from the limit assumption that for the given slope a passive limit cycle exists and have already been identified. Both control laws will increase not only the exponential rate of convergence to the limit cycle but also its basin of attraction. This increases robustness of the closed loop system to external disturbances and variation in the ground slope.