Nonlinear Feedback Control of a Biped Walking Robot

An implementation of a biped robot which as capable of dynamic walking by a simple nonlinear control algorithm. is presented. Four D.C. servo motors actuate the knee and ankle joints of the legs of the robot. The biped is constrained to the sagital plane, and the motion generation is reduced to a problem of controlling the position and velocity of the robot’s center of gravity. They are controlled by a nondinear feedback con,troller, based o n a simple feedback linearization, m?ethod. Several design issues including mechanical structure, leg actuation,, and control system of the robot are discussed. Experimental results demonstrate the effectiveness of the algorithm.

• Type: Conference
• Year: 1995
• Where: ICRA
• Authors: Kazuhisa Mitobe, Naoki Mori, Kouichi Aida, Yasuo Nasu
• Keywords: Biped Robot, ICRA 1995, Nonlinear Control Algorithm, Robotics, Simple Feedback Linearization