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		Chenglong FU;Ken CHEN;Jing XIONG;Leon XU.[en_title][J].Control Theory and Technology,2007,5(2):113~120.[Copy]

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ChenglongFU;KenCHEN;JingXIONG;LeonXU
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Received:December 25, 2005Revised:November 23, 2006

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Stability and control of dynamic walking for a five-link planar biped robot with feet

Chenglong FU;Ken CHEN;Jing XIONG;Leon XU

(Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China;Nokia Research Center, Beijing 100013, China)

Abstract:

During dynamic walking of biped robots, the underactuated rotating degree of freedom (DOF) emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant.This paper addresses the asymptotic orbit stability for criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with flat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method.

Key words: Biped robot Dynamic walking Orbit stability Dimension-variant hybrid systems Nonlinear control