Principle and Control Method of Energy Input in Dynamic Walking of Humanoid Robots

Pushing ground with trailing leg to gain energy is the main way of energy input for biped robots. This paper studies the control method of ground-push in dynamic walking of biped robots. First, the principle of the ground-push is studied. Second, the implement method of ground-push, which is for a 27 DOF humanoid robot, and under a decentralized control architecture, is developed. At final, the proposed method is verified in the simulation. The results show that the proposed method achieves stable walking, and the performance of speed control is satisfied.