An overview of the underactuated biped robots

机译：驱动不足的两足动物机器人概述

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This paper presents an overview on underactuated biped robots. Firstly, background, latest research and characteristics of underactuated biped robot are introduced. Secondly, the model of underactuated biped walking system is described. And then the stability criterion based on hybrid zero dynamics theory and the Poincaré map is discussed. Meanwhile, commonly used methods for off-line gait planning and control strategies are analyzed. Finally, several open problems need further research and the development directions are indicated and discussed.

机译：本文概述了欠驱动的两足动物机器人。首先介绍了欠驱动两足机器人的背景，最新研究和特点。其次，描述了欠驱动的两足动物步行系统的模型。然后讨论了基于混合零动力学理论和庞加莱图的稳定性判据。同时，分析了离线步态计划和控制策略的常用方法。最后，还有几个未解决的问题需要进一步研究，并指出和讨论了发展方向。

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《2011 IEEE International Conference on Information and Automation》|2011年|p.772-776|共5页
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Zhensheng You; Zhihuan Zhang;
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中图分类自动化技术及设备;
关键词
Control strategy; Gait planning; Model description; Stability criterion; Underactuated Biped robot;

机译：控制策略;步态规划;模型描述;稳定性判据;欠驱动两足机器人;

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1. Strict stealth walking gait generation for 3-link underactuated biped robots [J] . Hiroki Shibata, Fumihiko Asano Artificial life and robotics . 2020,第4期

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2. A brief review of dynamics and control of underactuated biped robots [J] . Gupta Surbhi, Kumar Amod Advanced Robotics: The International Journal of the Robotics Society of Japan . 2017,第11a12期

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3. MULTI-MODEL STABILITY CONTROL METHOD OF UNDERACTUATED BIPED ROBOTS BASED ON IMBALANCE DEGREES [J] . Zhang Z-H, Hu C. International Journal of Simulation Modelling . 2015,第4期

机译：基于不平衡度的欠驱动双足机器人多模型稳定性控制方法
4. An overview of the underactuated biped robots [C] . Zhensheng You, Zhihuan Zhang IEEE International Conference on Information and Automation . 2011

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5. Geometric Control of Underactuated Mechanical Systems with Application Focus on Bipedal Robots [D] . Chen, Tan. 2021

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6. Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model [O] . Behnam Dadashzadeh, Mohammad Esmaeili, Chris Macnab -1

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7. Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots [O] . Hua Chen, Bingheng Wang, Zejun Hong, 2021

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An overview of the underactuated biped robots

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