Nonlinear feedback control of a biped walking robot

Abstract

An implementation of a biped robot which is capable of dynamic walking by a simple nonlinear control algorithm is presented. Four D.C. servo motors actuate the knee and ankle joints of the legs of the robot. The biped is constrained to the sagittal plane, and the motion generation is reduced to a problem of controlling the position and velocity of the robot's center of gravity. They are controlled by a nonlinear feedback controller, based on a simple feedback linearization method. Several design issues including mechanical structure, leg actuation, and control system of the robot are discussed. Experimental results demonstrate the effectiveness of the algorithm.