Impulsive push control for biped robot based on passive dynamic walking

Focus on the study of a simplest biped robot, the dynamics of the biped locomotion is analyzed. In order to avoid swinging leg scrape the ground as it attempts to swing in front of the support leg, in this paper, a more complicated biped robot that has knees is designed. The knee of the swinging leg is bended during the swing phase, so the swinging leg is shorten. The robot is powered by using an impulse applied at the trailing support leg´s heel immediately before heel strike. Combining the poincare map, the iterative learning control (ILC) law is applied to learn and control the desired impulsive push, and stable fixed point and limit cycle of the robot system can be found quickly, enforces the bipedal robot stable walking. The simulation results show that the ILC approach for biped walking control can track the different desired step length effectively.