Biped Robot Control

  • Bongsob Song
  • J. Karl Hedrick
Part of the Communications and Control Engineering book series (CCE)


This chapter presents the analysis and design of Dynamic Surface Control (DSC) with the application to biped walking with a variable step size. Under the assumption that the biped model consists of a single-leg support, a double impact, and a double-leg support phase model, the DSC is applied to the model which is a piecewise multi-input multi-output nonlinear system. Once the system becomes closed-loop with DSC, piecewise augmented error dynamics with provable stability properties are derived in the form of a piecewise linear system subject to exogenous inputs. Based on the error dynamics, a convex optimization problem is formulated to estimate the ellipsoidal error bound to guarantee the piecewise quadratic boundedness. Finally, the performance of DSC for the biped walking with a variable step size will be estimated by calculating a piecewise ellipsoidal error bound numerically and validated via simulation.


Gait Cycle Error Dynamic Biped Robot Trajectory Generation Zero Moment Point 
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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringAjou UniversitySuwonKorea, Republic of (South Korea)
  2. 2.Department of Mechanical EngineeringUniversity of California at BerkeleyBerkeleyUSA

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