Toward Reactive Walking: Control of Biped Robots Exploiting an Event-Based FSM

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...

Event-based PI Control of an Underactuated Biped Walker

This paper addresses the control of a planar, biped robot with one degree of underactuation. Previous work has designed controllers that induce provably, exponentially stable, periodic walking motions at fixed, pre-determined walking rates. These controllers operate in continuous-time during the single support phase of the robot. The present paper shows how to design an event-based PI controlle...

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