...Show More Authors
Bipedal robots, designed to replicate human locomotion, face significant balance challenges due to instability and high degrees of freedom. This study examines dynamical models, balance control strategies, and locomotion methodologies. Dynamical models are categorized into simplified, centroidal dynamics, and whole-body dynamics models. Simplified models, such as the Linear Inverted Pendulum Model (LIPM), approximate the robot as a point mass at the Center of Mass (CoM) but neglect upper-body dynamics and complex terrain interactions. Centroidal dynamics models incorporate CoM motion, contact forces, and angular momentum for improved disturbance rejection but require extensive computational resources. Whole-body models achieve high
...
Show More