Dynamic obstacle crossing by a biped robot, based on control of the propulsion energy

This paper proposes an energy control method for the dynamic walking of a planar biped, allowing obstacle crossing. This approach was tested in simulation on a numerical model of the Hydroïd robot of the Laboratoire d'Ingénierie des Systèmes de Versailles, and achieved a dynamic walking with a 1.3 m/s maximum speed and the crossing of an obstacle thanks to inertia forces, by leaning with the front foot on the obstacle. The propulsion energy of the system is produced by the rear leg, endowed with four actuated degrees-of-freedom (hip, knee, ankle, toes), and controlled by a force control using four degrees-of-freedom in the non singular case, and three degrees-of-freedom in the singular case.