Control Design for Robust Limit-Cycle Walking

Within the field of humanoid robotics, stability and robustness during gait is a reoccurring challenge. In particular for limit-cycle walkers, like the humanoid robot TUlip, robustness poses a problem. To improve the robustness of limit-cycle walking, an add-on control method is proposed, which adjusts step length. The control method tries to...

Step location prediction for bipedal robots: Evaluating and improving Capture Point theory

There are many good reason for the development of a robust bipedal walking robot. However, until recently this development was hampered by the lack of a disturbance rejecting locomotion algorithms. With the introduction of Capture Point theory by Pratt et al. [2006] this problem has been largely solved. Capture Point theory describes the point...