The purpose of this paper is to show realization of biped walking for an underactuated biped. In the beginning of this paper, we formulate the problem and show the model of biped called Emu. Since the contact of the ground is a point, the model is an underactuated system. For the reason, the robot is released from constrains of Zero Moment Point. Next, we propose a control scheme for biped walking that is composed of PD control law. The proposed control scheme is based on dynamics in the sense that it does not depended on the parameters of the model. Finally, we analyze stability of the controlled system as a discrete dynamical system.
International Conference on Motion and Vibration Control
