Abstract
This paper presents a control method for a 3-D biped robot walking in different modes: walking in the up or down direction, walking up stairs or down stairs, and rotation. The control strategy is developed on a simplified model of the robot and then verified on a more realistic model (Pott A, Kecskeméthy A, Hiller M (2007) Mech Mach Theory 11:1445–1461). This paper includes the results of the numerical solutions, showing stepping on and off a 0.1 m high platform, walking in the down direction (surface slope angle is 0.02 rad), and rotation on the second step by a 0.3 rad angle.
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Tereshin, V., Borina, A. (2015). Control of Biped Walking Robot Using Equations of the Inverted Pendulum. In: Evgrafov, A. (eds) Advances in Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-15684-2_4
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DOI: https://doi.org/10.1007/978-3-319-15684-2_4
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