A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground

الملخص EN

Both compliance and discontinuity are the common characteristics of the real ground surface.

This paper proposes a stabilization method for the underactuated bipedal locomotion on the discontinuous compliant ground.

Unlike a totally new control method, the method is actually a high-level control strategy developed based on an existing low-level controller meant for the continuous compliant ground.

As a result, although the ground environment is more complex, the calculation cost for the robot walking control system is not increased.

With the high-level control strategy, the robot is able to adjust its step-length and velocity simultaneously to stride over the discontinuous areas on the compliant ground surface.

The effectiveness of the developed method is validated with a numerical simulation and a physical experiment.