Energy shaping control of biped walking robot
双足步行机器人能量成型控制

To make the walking gait of the biped passive robot accord with the bionic rules, and quickly enter a new steady-state after the road-slope changes, we propose a control strategy based on energy-shaping with invariant angle. The energy-matching condition has been studied; the energy-shaping controller is designed. Because the kinetic energy-shaping has no symmetry relative to the rotation transformation, the angle-invariant control is implemented by the auxiliary control in energy shaping. The simulation results show that this method realizes the bionic control and enlarge the attraction domain, and also improve the robustness.