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 that assumes only the knowledge of the upper bound of the model uncertainty. The performance of this step is investigated for the two cases of point-to-point and trajectory-following motions. The second step is to design an intelligent path planner for the walking Biped that takes all motion constraints into account. Animation is used to check for both motion harmony and trajectory following. The real-time applicability of the proposed controller is investigated and tradeoffs between stability and performance are carefully studied. In addition, real-time potential of the controller is being studied for further application. Key-Words: Model-Reference Control, Robotics, GAIT Analysis, and Modeling and Simulation.