Motion control of biped locomotion robot

Abstract

The walking motion is realized as a result of cooperation of the motions in the frontal plane and in the sagittal plane. In this paper, the designing method of the hierarchical control system for a biped locomotion robot is presented. In the hierarchical control system, the trajectory planning for the walking pattern is executed at the upper level and the servo control for the planned trajectory is executed at the lower level. The cooperation of the motions in the frontal plane and in the sagittal plane is designed in the trajectory planning part. In the servo control part, it is considered to follow that planned trajectory so that the stable walking motion is realized.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>