Control of a biped robot in the double-support phase

The development and implementation of an advanced control system for a seven-link, 12-degree-of-freedom, biped robot in the double-support phase are addressed. A constrained dynamic model of the biped robot is formulated and a reduced order model for the double-support phase is derived. In this model the dependent variables are related to the independent variables through the kinematic Jacobian. Control strategies based on feedforward compensation and linear state feedback are derived for tracking specified joint trajectories. The approach is demonstrated using results of a sway motion obtained from a prototype biped robot that has been constructed.<
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