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IROS
2009
IEEE

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

9 years 1 days ago
A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot
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
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Ahmed Chemori
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