Control Strategy for the Robust Dynamic Walk of a Biped Robot

Christophe Sabourin (1) , Olivier Bruneau (2) , Gabriel Buche (3)

1 LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
2 LVR - Laboratoire Vision et Robotique
3 LAG - Laboratoire d'automatique de Grenoble

This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of disturbance correspond to those most frequently encountered by biped robots during walking in an unknown environment.

Mots clés: under-actuated biped robot; dynamic walking gait; CMAC neural networks; robustness

Domaines: Automatique / Robotique

Christophe Sabourin, Olivier Bruneau, Gabriel Buche. Control Strategy for the Robust Dynamic Walk of a Biped Robot. The International Journal of Robotics Research, 2006, 25, (9) p. 843-860. ⟨hal-00092004⟩