Hybrid Controller for Biped Gait Generation

This paper deals with the gait generation of a small robot RoboSapien. The proposed controller is a hybrid one, merging the central pattern generator with the dynamics-based approach. This controller succeeded in enabling walking initiation, walking continuation, speed variance, and robustness to body mass changes. All this was achieved using a single hybrid controller without parameter changes, and a single control input. This is a departure from past controllers where “walking” and “starting to walk” were treated separately.

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