Walking in the 2-Step Capture Region; pushes, ramps and speed modulation

Abstract

Herein a controller for biped robots that allows disturbance rejection and adaptability to different walking conditions is proposed. It is based on the Capture Point and N-Step Capturability theories, and is capable of speed modulation; including positive and negative velocities. The controller performance is accessed through simulations by disturbing a nominal gait with: impulsive and constant pushes, ascending and descending ramps, and a sinusoidal terrain. Finally, a discussion regarding the controller performance is presented.