Choice of output for time-variant walking control for a five-link underactuated planar biped robot


This paper presents a feedback controller that achieve an asymptotically stable, periodic walking gait for an under-actuated planar biped robot. A biped studied consists of five links, connected to form two legs with knees and a torso, it have point feet without actuation between the feet and ground. In single support, the configuration of the robot is… (More)
DOI: 10.1109/ICHR.2009.5379554


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