Abstract

In this paper, we introduce a new control method of quasi-passive dynamic walking for a biped walking robot. The control low uses actuators just only to maintain the passive walking. First, focusing on the contact phase of swing leg, the stability analysis of passive walking robot is performed through a discrete-time system of the robot. Second, we propose a new control method of semi-passive walking based on delayed feedback control, which do not require any reference trajectory for walking. Finally, the effectiveness of the control law is shown through several simulations.

Full Text
Published version (Free)

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call