Trajectory design for nonlinear control of a bipedal walking robot

The goal of this paper is to present a method for generating a basic trajectory for a planar bipedal robot with point feet. Since the mechanism is underactuated, partial feedback linearisation is used as a control method. In order to omit dynamic singularities only relative angles are used in the output function and the information about the absolute position of the robot is supplied using a virtual leg concept. The trajectory data for the linearised system to follow is supplied as a polynomial generated from a set of key positions. Parametrisation and additional scaling are assumed in order to achieve a proper gait. Paper briefly discusses a possible set of parameters that allow a stable gait, in a Poincare sense.

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