Dynamic, Robust Locomotion for a Non-Anthropomorphic Biped

摘要

This work presents a dynamic walking controller for a high-bandwidth torque-controlled non-anthropomorphic bipedal robot. A simplified model with passive stability characteristics is leveraged along with feedback linearization techniques, actively adjusted footstep positions, and swing leg trajectories that minimize the creation of additional moments, to make the robot follow a desired velocity under different environmental circumstances. Tests to show the approach's robustness to external forces and imperfect terrain (e.g. stairs, obstacles, ramps) are demonstrated in simulation. Dynamic stability of the approach is analyzed through a limit cycle analysis.