Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
Xiaobin Xiong Jenna Reher Aaron D. Ames Xiaobin Xiong Jenna Reher Aaron D. Ames
Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D underactuated bipedal robots for global position control. The step-to-step (S2S) dynamics of the H-LIP walking approximates the actual S2S dynamics of the walking of the ro...