This paper discusses the problem of achieving stable walking of a compass gait biped robot on a slope. A reference trajectory for stable walking is generated using Lagrangian dynamics of the biped robot. It is shown that an underactuated robot can follow the reference trajectory using a control law based on feedback linearization with respect to both hip and ankle joints. The results are compared in terms of Mean Square Error (MSE). The validity of the proposed controller is carried out using simulation studies.
cited By (since 1996)0; Conference of org.apache.xalan.xsltc.dom.DOMAdapter@7b4dd555 ; Conference Date: org.apache.xalan.xsltc.dom.DOMAdapter@32f0feb1 Through org.apache.xalan.xsltc.dom.DOMAdapter@6be13097; Conference Code:100429
S. Kochuvila, Dr. Shikha Tripathi, and Sudarshan, T. S. B., “Stability of an Underactuated Passive Biped Robot Using Partial Feedback Linearization Technique”, Applied Mechanics and Materials, vol. 394, pp. 456–462, 2013.