An overview on bipedal gait control methods

Abstract

Bipedal gait control has always been a very challenging issue due to the multi-joint and non-linear structure of humanoid robots and frequent robot–environment interactions. To realise stable and robust bipedal walking, many aspects including robot modelling, gait stability and environmental adaptivity should be considered to design the gait control method. In this paper, a general description of bipedal gait and the corresponding evaluation indicators are introduced. Moreover, the existing bipedal gait control methods are classified into model-based gait, stability criterion-based gait and learning strategy-based gait and a comprehensive review is conducted. Finally, the existing challenges and development trends of bipedal gait control are presented.