A biped robot that jogs

Abstract

The project of a two-legged walking robot is presented. The control system is based on a nonlinear control scheme using the method of feedback linearization. Special effort has been devoted to the trajectory generation which is computed such that the system remains controllable throughout the entire gait cycle. The controller and simulation algorithm have been implemented parametrically. Parameter studies have been performed which lead to the final design. The mechanical design with particular emphasis on actuators and sensors is presented.