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<p>This paper gives a review of recent results in the field of modeling and control of hybrid walking systems with a particular focus on the Compass Gait model. Since dynamic models of biped robots are hybrid in nature, the paper presents an overview of modeling the continuous and discrete dynamics of a hybrid system representing a walking robot. The paper briefly describes the design evolution in underactuated bipedal robots and presents several prominent prototypes, explains a number of related concepts and lists a variety of suitable control techniques.</p>
</abstract>

This paper gives a review of recent results in the field of modeling and control of hybrid walking systems with a particular focus on the Compass Gait model. Since dynamic models of biped robots are hybrid in nature, the paper presents an overview of modeling the continuous and discrete dynamics of a hybrid system representing a walking robot. The paper briefly describes the design evolution in underactuated bipedal robots and presents several prominent prototypes, explains a number of related concepts and lists a variety of suitable control techniques.

Modeling, Analysis and Control of the Compass Gait Biped Robot and Extensions: A Review

Department of Cybernetics and Artificial Intelligence, Faculty of Electrical Engineering and Informatics

Department of Industrial Engineering and Informatics, Faculty of Manufacturing Technologies with a seat in Prešov

Acta Electrotechnica et Informatica

This work is licensed under the Creative Commons Attribution 4.0 International License.

This paper gives a review of recent results in the field of modeling and control of hybrid walking systems with a particular focus on the Compass Gait model....

Modeling, Analysis and Control of the Compass Gait Biped Robot and Extensions: A Review

Published Online: Apr 13, 2022

Page range: 14 - 22

Received: Aug 24, 2021

Accepted: Mar 15, 2022

DOI: https://doi.org/10.2478/aei-2021-0003

Keywords
compass gait, hybrid systems, robot walking, underactuated system, passive dynamic walker

© 2021 Anna Jadlovská et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Modeling, Analysis and Control of the Compass Gait Biped Robot and Extensions: A Review

Published Online: Apr 13, 2022

Page range: 14 - 22

Received: Aug 24, 2021

Accepted: Mar 15, 2022

DOI: https://doi.org/10.2478/aei-2021-0003

Keywordscompass gait, hybrid systems, robot walking, underactuated system, passive dynamic walker

© 2021 Anna Jadlovská et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Keywords
compass gait, hybrid systems, robot walking, underactuated system, passive dynamic walker