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Bipedal running is a difficult task to realize in robots, since the trunk isunderactuated and control is limited by intermittent ground contacts.Stabilizing the trunk becomes even more challenging if the terrain is unevenand causes perturbations. One bio-inspired method to achieve postural stabilityis the virtual point (VP) control, which is able to generate natural motion.However, so far it has only been studied for level running. In this work, weinvestigate whether the VP control method can accommodate single step-downs anddownhill terrains. We provide guidelines on the model and controllerparameterizations for handling varying terrain conditions. Next, we show thatthe VP method is able to stabilize single step-down perturbations up to 40 cm,and downhill grades up to 20-10{\deg} corresponding to running speeds of2-5m/s. Our results suggest that VP control is a promising candidate forterrain-adaptive running control of bipedal robots.

A Control Method to Compensate Ground Level Changes for Running Bipedal Robots