Gait generation for underactuated compass-like robots using dissipative forces in the controller

This work addresses the problem of gait generation in underactuated compass-like biped robots using dissipative forces in the controller. Three different controllers are presented. The first one is a simultaneous interconnection and damping assignment passivity-based control with dissipative forces. The second one is an energy pumping-and-damping control, while the third one is an energy pumping or damping control action. Numerical case studies, comparisons, and critical discussions evaluate the performance of the proposed approaches.