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22

IROS
2009
IEEE

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

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

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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.

Ahmed Chemori

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Control Approach | Discret-time Control Approach | IROS 2009 | Planar Biped Walker | Robotics |

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Added	24 May 2010
Updated	24 May 2010
Type	Conference
Year	2009
Where	IROS
Authors	Ahmed Chemori

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