Lateral capture steps for bipedal walking

摘要: Bipedal walkers are difficult to control, inherently unstable systems. Besides the complexity of walking motion itself, balance robot constantly has be maintained with good foot placements and other disturbance-rejection strategies. In this work, we presenting a new, closed-loop control approach that addresses both, problem challenge maintaining during walking. We decouple from combine them in hierarchical framework allowing placement-based regulator timing footstep coordinates central pattern-generated stepping motions. Furthermore, decompose controller into three simple, independent modules compute suitable estimates sagittal lateral for next maintain nominal center mass trajectory. implemented step size components using equations parameterized version linear inverted pendulum model fit data collected robot. The parameter optimization significant impact on accuracy our predictions. demonstrate efficiency by performing experiments real biped. Results show is able reliably recover any push only few steps as long it does not tip over current support leg.