A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2009

A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot

Abstract

This paper deals with a discret-time control approach, proposed for the control of a five-link, four-actuator planar biped walker. The approach is based on the choice of a particular class of walk configurations that enables a full state controllability avoiding the need to use Poincar'e-like argumentation in the proof of motion's reproducibility (stability of limit cycles). Simulation results attest the efficiency of the proposed control approach.

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Dates and versions

lirmm-00429803 , version 1 (04-11-2009)

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Ahmed Chemori. A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot. IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.3226-3231, ⟨10.1109/IROS.2009.5353965⟩. ⟨lirmm-00429803⟩
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