Passivity-based dynamic bipedal walking with terrain adaptability: Dynamics, control and robotic applications

This paper presents an approach for passivity-based bipedal robots to achieve stable walking on uneven terrain. A powered two-dimensional seven-link walking model with flat feet and compliant ankles has been proposed to analyze and simulate the walking dynamics. We further describe an optimization based control method, which uses optimized hip actuation and ankle compliance as control parameters of bipedal walking. Satisfactory results of simulations and real robot experiments show that the passivity-based walker can achieve stable bipedal walking with larger ground disturbance by the proposed method in view of stability and efficiency.