Foot Controller

Foot controllers for legged robots are being actively developed to enable stable and robust locomotion across diverse terrains and conditions, including dynamic surfaces. Research focuses on advanced control algorithms, often employing variations of linear inverted pendulum models (LIPM) or their extensions to handle time-varying dynamics, and incorporating hierarchical control frameworks to manage both high-level planning and low-level actuation. These advancements are crucial for improving the adaptability and reliability of legged robots in challenging environments, with applications ranging from telepresence and virtual reality to search and rescue operations.