A new 3D biped prototype with small DOF, SKIPPER, was developed. As an important component of a running controller for this robot, an aerial posture controller is presented. This is the extended version of planar running controller, which was previously developed for a passive one-legged hopping robot, and plays important roll for orbital stabilization at the lowest control layer. The controlle...

High compliant legs are essential for the efficient versatile locomotion and shock absorbency of humans. This study proposes a biped robot actuated by pneumatic artificial muscles to mimic human locomotion. On the basis of the musculoskeletal architecture of human lower limbs, each leg of the biped robot is modeled as a system of three segments, namely, hip joint, knee joint, and ankle joint, a...

This paper presents a control la w for the tracking of an optimal reference trajectory by an underactuated biped robot. The degree of under-actuation is one during the single support phase. The control law is de ned in the following way. Only the geometric evolution of the robot is controlled, not its temporal evolution. To achiev e this objective, we consider a set of reference trajectories pa...

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 g...

Abstract: This paper presents a robust control method via the intelligent adaptive backstepping design technique for stable walking of nine-link biped robots with unknown model uncertainties and external disturbances. In our control structure, the self recurrent wavelet neural network (SRWNN) which has the information storage ability is used to observe the uncertainties of the biped robots. The...

Biped walking remains a difficult problem, and robot models can greatly facilitate our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network governed mainly by l...