Modeling, Analysis and Control of the Compass Gait Biped Robot and Extensions: A Review-Reference-Cited by-同舟云学术

Modeling, Analysis and Control of the Compass Gait Biped Robot and Extensions: A Review

Published:2021-12-01 Issue:4 Volume:21 Page:14-22
ISSN:1338-3957
Container-title:Acta Electrotechnica et Informatica
language:en
Short-container-title:

Author:

Jadlovská Anna¹,Jadlovská Slávka²,Koska Lukáš¹

Affiliation:

1. Department of Cybernetics and Artificial Intelligence, Faculty of Electrical Engineering and Informatics , Technical University of Košice , Letná 9 , Košice , Slovakia

2. Department of Industrial Engineering and Informatics, Faculty of Manufacturing Technologies with a seat in Prešov , Technical University of Košice , Bayerova 1 , Prešov , Slovakia

Abstract

Abstract This paper gives a review of recent results in the field of modeling and control of hybrid walking systems with a particular focus on the Compass Gait model. Since dynamic models of biped robots are hybrid in nature, the paper presents an overview of modeling the continuous and discrete dynamics of a hybrid system representing a walking robot. The paper briefly describes the design evolution in underactuated bipedal robots and presents several prominent prototypes, explains a number of related concepts and lists a variety of suitable control techniques.

Publisher

Walter de Gruyter GmbH

Subject

General Medicine

Link

https://www.sciendo.com/pdf/10.2478/aei-2021-0003

Reference49 articles.

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4. [4] CHEVALLEREAU, Ch. – DJOUDI, D. – GRIZZLE, J. W.: Stable bipedal walking with foot rotation through direct regulation of the zero moment point, IEEE Trans. on Robotics 24, No. 2 (2008) 390–401

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