Sub-sectional Control of the Compass-Like Biped Robot

This paper shows the principle and control strategy design of the simple compass-like biped robot. Based upon the control method of energy shaping control and slope invariant control, the sub-sectional controller switches between the inverse dynamic control and passivity based control. The control idea was designed and implemented using numerical simulation. The results showed that the controller can substantially enlarge the basin of attraction and robustness when confronted large disturbances and highly uneven terrains, while keeping a smooth and natural gait.