This project investigates the optimization of, and presents a control framework for, a biped robot to maintain balance and walk on a rolling ball. We design a balance controller for a simplified linear model of a biped robot, which comprises a foot connected to a lump mass through an ankle joint and a translational spring and damper. We also derive a collision model for the system consisting of the cylinder, supporting leg, and swing leg. The control framework consists of two primary components: a balance controller and a footstep planner.
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