Nonlinear Feedback Control of a Biped Walking Robot

An implemen ta t ion of a biped robot which as capable of dynamic walking by a s imple nonl inear control algorithm. i s presented. Four D.C. servo mo tors actuate the knee and ankle jo in t s of the legs of t he robot. T h e biped i s constrained to the sagital p lane , and the m o t i o n generation is reduced to a problem of controlling the pos i t ion and velocity of the robot’s center of gravity. T h e y are controlled by a nondinear feedback con,troller, based o n a simple feedback linearization, m?ethod. Several design issues including mechanical structure, leg actuation,, and control s y s t e m of the robot are discussed. Exper imenta l results demons tra te the effectiveness of the algorithm.