Models, feedback control, and open problems of 3D bipedal robotic walking

The elds of control and robotics are working toward the development of bipedal robots that can realize walking motions with the stability and agility of a human being. Dynamic models for bipeds are hybrid in nature. They contain both continuous and discrete elements, with switching events that are governed by a combination of unilateral constraints and impulse-like forces that occur at foot touchdown. Control laws for these machines must be hybrid as well. The goals of this paper are fourfold: highlight certain properties of the models which greatly in uence the control law design; overview the literature; present two control design approaches in depth; and indicate some of the many open problems.