Models, Feedback Control, and Open Problems of 3D Bipedal Robotic Walking

Jessy W Grizzle (1) , Christine Chevallereau (2) , Ryan W. Sinnet (3) , Aaron D. Ames (3)

1 University of Michigan [Ann Arbor]
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
3 Texas A&M University [College Station]

The fields of control and robotics are working toward the development of bipedal robots that can realize walking motions with the stability and agility of a human being. Dynamic models for bipeds are hybrid in nature. They contain both continuous and discrete elements, with switching events that are governed by a combination of unilateral constraints and impulse-like forces that occur at foot touchdown. Control laws for these machines must be hybrid as well. The goals of this paper are fourfold: highlight certain properties of the models which greatly influence the control law design; overview the literature; present two control design approaches in depth; and indicate some of the many open problems.

Mots clés: Periodic motion; Nonlinear control systems; Robots; Bipedal robotic locomotion; Feedback control methods; Geometric approaches; Hybrid modes

Domaines: Robotique [cs.RO]

Jessy W Grizzle, Christine Chevallereau, Ryan W. Sinnet, Aaron D. Ames. Models, Feedback Control, and Open Problems of 3D Bipedal Robotic Walking. Automatica, 2014, 50 (8), pp.1955-1988. ⟨10.1016/j.automatica.2014.04.021⟩. ⟨hal-01676474⟩