Control of a Compass Gait Biped Robot Based on Partial Feedback Linearization

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

“…The compass gait robot can be thought of as either unactuated or underactuated: while the robot is able to walk, i.e. maintain a self-sustaining limit cycle, down a shallow plane inclined at the angle; adding an actuator at the hip allows for walking on level ground and uphill [27].…”

“…PFL results in an internal feedback that partially linearizes the internal nonlinear dynamics of the robot, and can be directly used to control the compass gait biped; the question remains how to obtain the desired acceleration of the swing (actuated) leg. The above-mentioned solution of two-point boundary problem can be considered; another possible way is to use the acceleration from a stable limit cycle corresponding to the unactuated robot gait on an inclined plane [27]. The proposed control algorithm also needs to tackle the crucial problem of gait periodicity (periodically repeated steps).…”

Stability of an Underactuated Passive Biped Robot Using Partial Feedback Linearization Technique

“…Most of the literature focuses on controlling a biped robot with actuation at every joint, but legged locomotion is under-actuated with more degrees of freedom than the actuation. Kochuvila et al [14] proposed the control of a biped robot using partial feedback linearization on a flat surface. This work concentrates on the control of an under actuated biped robot on a slope.…”