Control System

Targeting Fields:

  • Feedback Controller
  • Stable Bipedal Motion
    • Path Planning
    • Footstep Planning (How to alter footsteps?)
      • Foot Trajectory Planning (What motion?)
      • Body CoM Planning (How to define stability?)
    • Joint Actuation (How to ensure stability?)

The challenge comes from balancing the robot.

It is easy to maintain stability when robot is standing still. Can we make the robot not lose its balance when it moves its body around and even walk with both legs alternatively?

Aside: Hello Lukas, I wrote the paragraph above based on my understanding when you introduced this concept in the recruitment. Edit the paragraph if that does not accurately illustrates your idea.