Design and control of a biped walking and jogging robot

The project of a two-legged walking robot is presented. First the mechanical design is described with particular emphasis on actuators and sensors of the robot. For this system a nonlinear control scheme is proposed that is based on the method of feedback linearization. In order to allow for a "dynamically" stable motion, the reference trajectories are computed so that the system remains controllable throughout the entire gait cycle. In simulations the robot is controlled in a running motion, including phases without ground contact. The simulation results show the good performance of the control strategy in a purely dynamic motion.