Models, feedback control, and open problems of 3D bipedal robotic walking

• DOI: 10.1016/j.automatica.2014.04.021
• Publication Date: 2014-05-15T17:15:56Z
• Authors: Jessy W. Grizzle; Christine Chevall...; Ryan W. Sinnet; Aaron D. Ames
• Keywords: Geometric approaches; Periodic motion; Hybrid modes; [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO]; Nonlinear control systems; 0202 electrical engineering, electronic engineering, information engineering; [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]; Bipedal robotic locomotion; 02 engineering and technology; Feedback control methods; Robots

The fields of control and robotics are working toward the development of bipedal robots that can realize walking motions with the stability and agility of a human being. Dynamic models for bipeds are hybrid in nature. They contain both continuous and discrete elements, with switching events that are governed by a combination of unilateral constraints and impulse-like forces that occur at foot touchdown. Control laws for these machines must be hybrid as well. The goals of this paper are fourfold: highlight certain properties of the models which greatly influence the control law design; overview the literature; present two control design approaches in depth; and indicate some of the many open problems.