Analysis and Control of Biped Robots

Professor Claude H. Moog

IRCCyN UMR C.N.R.S 6597, 1 rue de la Noé

BP 92101, 44321 Nantes Cedex 3,

France

The control of an underactuated biped robots in single support phase can be done choosing a certain number of output functions, which are dependent on the state variables, i.e. on angular positions and velocities; the choice of these output functions is usually better if they yield a minimum phase system. In the paper some examples are discussed. It is suggested that the underlying mathematical problem states and solves the problem in a concise manner. The outline of the seminar includes:

• The example of a two body robot (two legs without knees)
• The case of a five link robot (two legs with knees and a trunk)
• The mathematical tool provided by the Pfaff-Darboux Theorem.

The talk includes a description of projects on walking robots in France and at IRCCyN in Nantes.

Friday, September 28, 2001

3:30 - 5:00 p.m.

1500 EECS