Chenghao Hu, Sicheng Xie, Liang Gao, Shengyu Lu, Jingyuan Li
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Bipedal gait control has always been a very challenging issue due to the multi-joint and non-linear structure of humanoid robots and frequent robot–environment interactions. To realise stable and robust bipedal walking, many aspects including robot modelling, gait stability and environmental adaptivity should be considered to design the gait control method. In this paper, a general description of bipedal gait and the corresponding evaluation indicators are introduced. Moreover, the existing bipedal gait control methods are classified into model-based gait, stability criterion-based gait and learning strategy-based gait and a comprehensive review is conducted. Finally, the existing challenges and development trends of bipedal gait control are presented.
期刊介绍：
IET Collaborative Intelligent Manufacturing is a Gold Open Access journal that focuses on the development of efficient and adaptive production and distribution systems. It aims to meet the ever-changing market demands by publishing original research on methodologies and techniques for the application of intelligence, data science, and emerging information and communication technologies in various aspects of manufacturing, such as design, modeling, simulation, planning, and optimization of products, processes, production, and assembly.
The journal is indexed in COMPENDEX (Elsevier), Directory of Open Access Journals (DOAJ), Emerging Sources Citation Index (Clarivate Analytics), INSPEC (IET), SCOPUS (Elsevier) and Web of Science (Clarivate Analytics).
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