Modeling Framework and Software Tools for Walking Robots

In this work, we derive mathematical models of walking robots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. increase robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possibility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals.