Stabilization of a 5-link bipedal robot by means of dorsal movement compensation

Based on mechanical energies analysis, the aim of this paper is to propose the use of the relative dorsal position of a 5-link bipedal robot in order to compensate its moments during the walking cycle, leading the previously unstable system to stability. Also, a modification of the PD control law avoids hyperextension at the supporting legpsilas knee. Finally, the model parameters are subjected to percentual variations with respect to the real robot parameters and the robustness of the system is verified through simulations.