Design and Analysis of Feedback Controller for Underactuated 3D Bipedal Robots During the Single Support Phase

Abstract

Underactuated bipedal robots are quite useful for researching on high-speed and dynamic bipedal walking. In the last five years, many achievements focused on the gait planning and stabile control of planar underactuated bipedal robots, which were validated through experiment on the physical prototype. But underactuated 3D bipedal robots gradually become a hotspot in this field recently. In this paper, design and analysis of feedback controller for underactuated 3D bipedal robots during the single support phase are proposed. The dynamic model during the single support phase is given. A finite-time feedback controller is designed based on the dynamic model during the single support phase and a simple demonstration of its stability in the sense of Lyapunov is also deduced. Then the comparison of convergence rate between the finite-time feedback controller and classical PD feedback controller is carried out by numerical simulation and the finite-time feedback controller converges in less time than the PD one.