Abstract
In order to make the biped robot realize the global stability control, this paper adopts the sub-sectional control strategy. According to the structure of the robot and the stability of the walking state, the range of each state domain is divided. Based on this we design the controller of each domain. In the unstable section the nonlinear fitting control based on the nonlinear observer compensation is adopted; in the controllable and stable section the energy shaping control is adopted; in the stable convergence section the passive control is adopted. The simulation results show that the sub-sectional control can increase the speed of the system convergence and improve the robustness of the system.
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