Bipedal Robot Zero Dynamics Control and Simulation using MATLAB

This paper introduces zero dynamics control and simulation for bipedal robots using MATLAB. We provide comprehensive details about the robot's dynamic modeling and control modules, covering both theoretical foundations and practical applications. The implementation involves developing mathematical models using MATLAB's Symbolic Math Toolbox for deriving equations of motion, followed by controller design utilizing zero dynamics principles for stable gait pattern generation. The simulation framework includes key functions such as ode45 for numerical integration of dynamic equations and custom control algorithms for real-time feedback implementation. We demonstrate how to conduct simulations in MATLAB to analyze and evaluate control system performance through metrics like stability margins and tracking accuracy. Finally, we explore future applications and potential development directions, offering valuable insights and references for researchers in the robotics control field. The code architecture typically consists of separate modules for dynamics calculation, controller implementation, and visualization, allowing for modular testing and validation.