Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments
The work introduces an innovative control algorithm for underactuated bipedal robots to improve mobility on uneven, non-flat surfaces where foot support is limited. By combining ankle torque regulation with a refined Angular Momentum Linear Inverted Pendulum model and a dual-strategy controller, the method allows the robot's center of mass height to vary. This approach successfully demonstrated enhanced stability and performance on physical Cassie bipedal hardware.