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Advances in Robotics Research
  Volume 2, Number 2, June 2018 , pages 151-159
 open access

A review on numerical models and controllers for biped locomotion over leveled and uneven terrains
Navaneeth Varma, K.G. Jolly and K.S. Suresh

    The evolution of bipedal robots was the foundation stone for development of Humanoid robots. The highly complex and non-linear dynamic of human walking made it very difficult for researchers to simulate the gait patterns under different conditions. Simple controllers were developed initially using basic mechanics like Linear Inverted Pendulum (LIP) model and later on advanced into complex control systems with dynamic stability with the help of high accuracy feedback systems and efficient real-time optimization algorithms. This paper illustrates a number of significant mathematical models and controllers developed so far in the field of bipeds and humanoids. The key facts and ideas are extracted and categorized in order to describe it in a comprehensible structure.
Key Words
    biped gait; Zero Moment Point (ZMP); non-linear dynamics; passive walkers
Navaneeth Varma, K.G. Jolly and K.S. Suresh: Department of Mechanical Engineering, N.S.S College of Engineering,
Akathethara, Palakkad-678 008, Kerala, India

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