Intuitive Control of a Planar Bipedal Walking Robot

Bipedal robots are diicult to analyze mathematically. However, successful control strategies can be discovered using simple physical intuition and can be described in simple terms. Five things have to happen for a planar bipedal robot to walk. Height has to be stabilized. Pitch has to be stabilized. Speed has to be stabilized. The swing leg has to move so that the feet are in locations which allow for the stability of height, pitch, and speed. Finally , transitions from support leg to support leg must occur at appropriate times. If these ve objectives are achieved, the robot will walk. A number of diierent intuitive control strategies can be used to achieve each of these ve objectives. Further, each strategy can be implemented in a variety of ways. We present several strategies for each objective which we have implemented on a bipedal walking robot. Using these simple intuitive strategies, we have compelled a seven link planar bipedal robot, called Spring Flamingo, to walk. The robot walks both slowly and quickly, walks over moderate obstacles, starts, and stops. Video, photographs, and more information on Spring Flamingo can be found at