Nonlinear robust control of a biped robot

摘要

This paper presents a nonlinear robust controller for a biped robot. A 5-Link dynamic model of a biped robot under holonomic constraints is obtained by using Lagrange method. The control problem of biped robot under Double Support Phase (DSP) is formulated as tracking control problem of truck motion. The effect of external additive disturbance acting on the robot significantly reduced using our proposed control scheme. This work opens the door for nonlinear robust control of a full range of biped walking and yield dexterity and versatility for performing specific gait patterns. Simulation results is presented to show the effectiveness of the proposed control approach.