Port-Based Control of a Compass-Gait Bipedal Robot

Authors:	Duindam Vincent, University of Twente, Netherlands Stramigioli Stefano, University of Twente, Netherlands
Topic:	2.3 Non-Linear Control Systems
Session:	Geometric Network Modeling and Control of Complex Physical Systems
Keywords:	Port-Hamiltonian systems, passive compensation, legged locomotion

Abstract

We examine the control problem of curve-tracking for fully-actuated mechanical systems, applied to walking robots. First, we discuss earlier results on curve-tracking using a change of coordinates to split the kinetic energy in a desired and an undesired part. Then, we apply and extend these results to the case of a compass-gait biped, and show in a simulation how its robustness against surface height variations can be increased.