A Capturability-based Control Framework for the Underactuated Bipedal Walking
Haihui Yuan Sumian Song Ruilong Du Shiqiang Zhu Jason Gu Mingguo Zhao Jianxin Pang Haihui Yuan Sumian Song Ruilong Du Shiqiang Zhu Jason Gu Mingguo Zhao Jianxin Pang
This work considers the control of underactuated bipedal walking, and a novel capturability-based control framework is presented. Compared with traditional approaches, the presented control method does not rely on the use of the Poincaré map, which may take significant computational cost. Firstly, a new definition of stable walking is presented, and a novel foot-placement based control method is p...