Control of a walking robot with feet following a reference trajectory derived from ballistic motion

Abstract

The goal of this paper is to define a control law and reference trajectories for a legged robot with feet. We use a computed torque control law associated with a desired motion of the legged robot derived from a ballistic trajectory. This approach leads to the same distribution of the torques as it can be observed for humans, and respects the assumption that muscle activities alternate with some periods of relaxation. Simulations are made on a simple model of quadruped for a dynamically stable planar gait.