This paper discusses the problem of achieving stable walking of a compass gait biped robot on a slope. A reference trajectory for stable walking is generated using Lagrangian dynamics of the biped robot. It is shown that an underactuated robot can follow the reference trajectory using a control law based on feedback linearization with respect to both hip and ankle joints. The results are compared in terms of Mean Square Error (MSE). The validity of the proposed controller is carried out using simulation studies.
Stability of an Underactuated Passive Biped Robot Using Partial Feedback Linearization Technique
Applied Mechanics and Materials ; 394 ; 456-462
2013-09-03
7 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Nonlinear feedback control of a biped walking robot
British Library Online Contents | 1996
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