Stabilisation of a 12 degree of freedom biped robot

Abstract

This paper considers the design and evaluation of stabilising controllers for a twelve degree of freedom biped robot using linear quadratic optimal control techniques and reduced order observers. The controllers are designed using approximate planar dynamical models for the sagittal and lateral planes. Experiments were carried out to test the control system when the biped robot was in the double support phase and during locomotion. Although the control system is based on single support models, the experimental results have shown that the robot successfully kept its given posture.