Modeling, control and analysis of semicircular-footed bipedal robot with entrainment effect

Biped robots have attracted wide attention in exploring the mechanism of human walking, and are expected to provide rich application scenarios. Nonetheless, stable and effective gait generation is not easy to achieve. At present, the mainstream biped walking control method similar to full drive does not fully consider and make use of the dynamics of the robot itself, resulting in low walking efficiency. To overcome this problem, an indirect method has been recently introduced to leverage the natural dynamics of passive dynamic walking. In this work, we introduce a more straightforward approach to strengthen its implementation ability. First, we introduce the modeling and control method of the compass-like robot with semicircular feet. Second, we conduct numerical simulations to observe the typical gait and analyze its results. Third, we investigated the effect of feed-forward control on walking performance. Moreover, a Poincaré map is used to test the stability of the system.