Control of a planar five link under-actuated biped robot on a complete walking cycle

Abstract

We propose a simple control approach for a seven degrees of freedom biped robot. This approach is based on previous works for manipulators under holonomic constraints, e.g., robots in contact with a rigid environment. Our control strategy is based upon singling out the three fundamental phases of motion of a biped : simple and double support, separated (sequentially) by an impact "instantaneous" phase. We will propose control laws to drive the robot for a finite time during each phase, while ensuring certain robustness vis-a-vis external perturbations. We also provide some simulation results.