Time-variable, event-based walking control for biped robots

Robust Motion Control of Biped Walking Robots

This paper proposes a robust mathematical approach for motion control. The proposed control technique is applied to a three-degree of freedom Biped walking robot for illustration. The design technique is divided into two major steps; the first one is to establish a robust position control scheme with both guaranteed stability and trajectory tracking capability using a model-reference technique ...

Control Algorithm for Stable Walking of Biped Robots

This paper deals with the stable walking of biped robots. The presented control algorithm enables a biped to perform stable walking without using any precomputed trajectories. The algorithm merges gait trajectory generation and control, and can be used for global control, for local control along an existing trajectory as well as for online computation of gait trajectories for stable walking. Th...

ZMP Based Reference Generation for Biped Walking Robots

Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important ro...

A Torso Driven Walking Algorithm for Dynamically Balanced Variable Speed Biped Robots

One of the more difficult problems facing developers of bipedal walking robots is the selection of appropriate sensors for maintaining balance. In this experiment, the Ballybot robot is used to evaluate proposed robotic tilt sensors and sensor data processing algorithms. Two inexpensive sensors in particular are examined: a piezo-electric gyroscope designed for remote control helicopters, and a...

Contribution à la commande de robots marcheurs bipèdes. (Walking control of biped robots)