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

Jadlovská, Anna; Jadlovská, Slávka; Koska, Lukáš

doi:10.2478/aei-2021-0003

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.

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

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