Walking Control of Underactuated Compass-type Robots without Gait Planning

摘要

This paper focuses on controlling the walking of biped robots. We consider a compass-type walking robot and analyze its dynamic stability. We show the relationship between the center of gravity of the leg and walking ease. Then we propose a control method for stable walking by using PD control without gait planning. Finally, we show experimental results to confirm the effectiveness of the proposed method.