Controlling humanoid robots

The locomotion of humanoid robots is essential for the development of new transport systems. It must satisfy the constraints of reduced energy consumption to increase energy autonomy, and compliance with one-sided contact conditions. It must also ensure orbital stability despite disturbances such as model uncertainties, ground irregularities or interactions with the environment. To reject these disturbances, we consider control strategies that are associated with the definition of reference motions. Some basic control strategies and elements for analyzing the orbital stability of a cyclic walk of bipedal planar and 3D robots are presented in this article.