A new variable structure control law based on the Lyapunov’s second method that can be used in trajectory planning problems of robotic systems is developed. A modified approach to the formulation of the sliding domain equations in terms of tracking errors has been presented. This approach possesses three distinct advantages: i) it eliminates the reaching phase, ii) it provides means to predict ...

The compass gait model has been intensively studied for a systematic investigation of complex biped locomotion dynamics, while most of the previous studies focused only on the locomotion on flat surfaces. In order to take a significant step forward in the study of dynamic biped walking, the problem addressed in this paper is the minimalistic control architecture of the compass gait model for wa...

Many of today’s successful biped robots are controlled based on the Zero Moment Point (ZMP) method, which generates robust locomotion for flat-footed bipeds on a controlled environment. These controllers usually generate slow gaits with a low energy efficiency which do not look natural or human-like. In contrast, Passive Dynamic Walkers [2], [5] are fast, efficient and resemble human walking. M...

The kinematics of human walking are largely driven by passive dynamics, but adaptation to varying terrain conditions and responses to perturbations require some form of active control. The basis for this control is often thought to take the form of entrainment between a neural oscillator (i.e., a central pattern generator and/or distributed counterparts) and the mechanical system. Here we use t...

This paper addresses the design and programming of a biped robot. Simple kinematics will be employed to carry out an analysis of biped stability and control. Center of mass and angular position are key components of successful motion. These variables are monitored throughout each process gait. The motion is simulated using COSMOSMotion. Different software packages found in the market are analyz...