Stable walking for a compass-like biped robot in complex environments

The paper presents a design and control approach for stable walking of a fully actuated compass-like biped robot in complex environments. Walking in a complex environment, the robot need adjust its step length and walking speed accordingly. For this purpose, a reference trajectory is constructed for each step with a determined step length and walking speed based on the environment. Then a feedback control law is developed to track the reference trajectory at each step. It is shown that under a suitable condition, the control law leads to asymptotically stable walking in complex environments. Numerical simulations are provided to verify and demonstrate the effectiveness of our approach for stable walking.