Abstract
This article proposes a canonical normal form for a class of 0-flat nonlinear systems to control a 7 d.o.f-biped robot. Sufficient geometrical conditions are given to transform the studied nonlinear systems into the proposed 0-flat canonical form, which enables us to compute the flat output as well. The results obtained are very convincing and show the usefulness of such a method in studying highly non-linear systems and designing control laws to drive them.
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