Control and Gait Generation of Biped Robots: A Review

Abstract

This review paper explores the translation of human negotiation behaviours to bipedal walking robots, considering the inherent differences in morphology between humans and robots. Despite considerable advancements in bipedal robotics in recent years, mechanical bipeds still lack the agility and robustness exhibited by their biological counterparts, particularly in unfamiliar or dynamically changing environments. This limitation can be attributed to the absence of online motion planning, reflex-like control, and non-advantageous passive dynamics, which biological systems employ to effectively overcome disturbances, especially when encountering significant unplanned changes in stepping height.