Design and Real-Time Control of a 4-DOF Biped Robot

Abstract

This work is focused on the design, construction and model based control of a biped robot during the walking cycle on the sagittal plane. For the analysis, the single support phase is considered to be the dominating dynamics, by assuming an instantaneous double support phase which is only described by the impact phenomenon. The joint tracking problem is analyzed by means of a model based control strategy, which incorporates a reformulation of the Coriolis matrix that allows the cancellation of non antisymmetric terms in order to formally proof the asymptotic stability of the coordinate error system representation in a local sense. Some experiments are carried out for a pre-defined reference trajectory for the walking cycle of a 4-DOF biped robot.