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This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named Â¿PDAC constantÂ¿ was proposed, so that walking velocity and direction is controllable. In this paper, we apply our control framework to an experimental robot Â¿Multi-locomotion RobotÂ¿; then the performance and the efficiency of the proposed control algorithm are verified by experiments.