Abstract

In this paper, a control method for a nonlinear model of a 7 DOF biped robot is discussed. The Walking gait is generated by controlling the position of the trunk of the robot to track a desired trajectory which based on analyzing the dynamics of a three dimensional inverted pendulum. The motion of a three dimensional inverted pendulum is constrained to move along a defined plane. One challenge in motion control of biped walking is high nonlinearities of the dynamics and inaccuracy of the parameters in the biped model.