Dynamic Control Algorithm for a Biped Robot

E. Cuevas, D. Zaldívar (Germany, Mexico), and R. Rojas (Germany)


Bipedal robots, control, artificial intelligence.


A not trivial problem in bipedal robot walking is the instability produced by violent transitions between the different walk phases. In this work a dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot's position, velocity and acceleration. This guarantee a constant velocity an a smooth transition in the control trajectories. The algorithm was successfully probed in the bipedal robot "Dany walker" designed at the Freie Universitt Berlin.

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