ABSTRACT Studies of biped control including standing, walking, hopping and running on humanoid robots are reviewed in this survey paper. Model-based approaches standing upon reduced-order dynamics are focused. It begins with revisiting the centroidal dynamics and the zero-moment point, which leads to the linear inverted pendulum (LIP) model and some of its variations. Then, some representative standing and walking control techniques based on the LIP model are reviewed, where the concept of capturability is also discussed. It is followed by consideration of height variation of the center of mass. Enhancement to hopping and running motions, which include aerial phases, is also addressed. Ideas to deal with complex nature as a hybrid system underlying discontinuously varying mechanics mainly due to unilateral constraints on contact forces are concisely explained. GRAPHICAL ABSTRACT

中文翻译：

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基于模型的仿人机器人双足运动控制研究

摘要 本调查论文回顾了双足控制的研究，包括在仿人机器人上的站立、行走、跳跃和跑步。关注基于降阶动力学的基于模型的方法。它首先重新审视质心动力学和零力矩点，这导致线性倒立摆 (LIP) 模型及其一些变体。然后，回顾了一些基于 LIP 模型的代表性站立和行走控制技术，其中还讨论了可捕获性的概念。其次是考虑重心的高度变化。还解决了对跳跃和跑步运动的增强，包括空中阶段。将复杂自然作为混合系统处理的想法主要由于对接触力的单边约束而导致不连续变化的力学。图形概要