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The International Journal of Robotics Research
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Control Strategy for the Robust Dynamic Walk of a Biped Robot

Christophe Sabourin

Laboratoire Images Signaux, et Systèmes Intelligents (LISSI EA/3956) Université Paris-XII, IUT de Sénart Avenue Pierre Point, 77127 Lieusaint, France, sabourin{at}univ-paris12.fr

Olivier Bruneau

Laboratoire Vision et Robotique Ecole Nationale Supérieure d’Ingénieurs de Bourges 10 Bd Lahitolle 18020 BOURGES, France, olivier.bruneau{at}ensi-bourges.fr

Gabriel Buche

Laboratoire d’Automatique de Grenoble INPG-ENSIEG BP 46 38402 Saint-Martin-d’Hères, France, Gabriel.Buche{at}inpg.fr

This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of disturbance correspond to those most frequently encountered by biped robots during walking in an unknown environment.

Key Words: under-actuated biped robot • dynamic walking gait • CMAC neural networks • robustness

The International Journal of Robotics Research, Vol. 25, No. 9, 843-860 (2006)
DOI: 10.1177/0278364906069151
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