GAIT PLANNING AND STABILIZATION FOR BIPED ROBOT WITH ONE ACTUATOR

In this paper, we focus on the problems of gait planning and stabilization for a three-link planar biped robot with periodic gaits in level ground. The key in designing this under actuated bipedal robot is to construct a feedback controller to realize stable locomotion. To achieve the control objectives, a time independent periodic trajectory based on the dynamic equations is designed for gait planning, and a nonlinear control including adaptive control, force control and feedback sliding mode control is designed to realize gait stabilization. In this paper, the simulation results on gait generation and stabilization are presented.