Modelling and control of a biped robot

Abstract

Abstract:This paper presents a study on two kinematic structures for dynamically stable biped locomotion. The two legs, each with three degrees of freedom, are connected through a rigid waist. The dynamics of both structures is modelled by partitioning the six dof kinematic chain in a 3 dof supporting leg and a 3 dof balance leg. A low complexity model is obtained by simplifying the dynamics of the balance leg not accounting for rotational dynamics. It is shown that the overall model produces good results under the point mass assumption for each link and a standard robust control algorithm.