Walking control for a planar biped robot using 0-flat normal form

Authors:
S. Bououden;F. Abdessemed
Affiliations:
-;-
Venue:
Robotics and Autonomous Systems
Year:
2014

Citing 5
Cited 0

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Abstract

This paper deals with the use of 0-flat normal form to control a 7 d.o.f-biped robot to follow a specified trajectory. Sufficient geometrical conditions are given to transform the studied nonlinear systems into a 0-flat normal form and determine the flat outputs. On the other hand, a controller design strategy is proposed to control the walking robot. Simulations are carried out using Matlab. 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.