A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot

Abstract— This paper deals with a discret-time control approach, proposed for the control of a five-link, four-actuator planar biped walker. The approach is based on the choice of a particular class of walk configurations that enables a full state controllability avoiding the need to use Poincar´e-like argumentation in the proof of motion’s reproducibility (stability of limit cycles). Simulation results attest the efficiency of the proposed control approach.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Ahmed Chemori
• Keywords: Control Approach, Discret-time Control Approach, IROS 2009, Planar Biped Walker, Robotics