Abstract
We proposed a new type of biped robot which has minimal degree of freedom for the dynamic walk (Lee et al., 2000). The simple structure of the robot circumvents the implementation complexity of the biped robot, however, the robot is still able to perform two-legged walking. Continuing to the previous work, the embedded control and sensor systems are mounted on the robot. With the embedded systems, the robot is able to climb the wall and go over the obstacles. Hybrid control technique is developed to compensate the nonlinear disturbance. The controller reduces the tracking error by 50% comparing to the conventional PD control.
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