Adaptive asymptotic stable biped locomotion

Abstract

An adaptive controller is proposed in this paper for under-actuated biped locomotion. The gait planning is based on the rigid body dynamic equation of bipedal robots. The sliding mode feedback controllers are used for both gait stabilization and active joint control. Inverse dynamics based feedforward torque linearizes the plant. The model parameters are estimated on line per link and used not only for feed forward control but also for gait search. The asymptotic stability of the closed loop system is rigorously proved.