title: A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories.
abstract: Although dynamic walking methods have had notable successes in control of bipedal robots in the recent years, still most of the humanoid robots rely on quasi-static Zero Moment Point controllers. This work is an attempt to design a highly stable controller for dynamic walking of a human-like model which can be used both for control of humanoid robots and prosthetic legs. The method is based on using time-based trajectories that can induce a highly stable limit cycle to the bipedal robot. The time-based nature of the controller motivates its use to entrain a model of an amputee walking, which can potentially lead to a better coordination of the interaction between the prosthesis and the human. The simulations demonstrate the stability of the controller and its robustness against external perturbations.
authors.affiliation: Department of Bioengineering, University of Texas at Dallas, Richardson, TX 75080, USA.
authors.forename: Siavash
authors.initials: S
authors.lastname: Rezazadeh
authors.affiliation: Department of Bioengineering, University of Texas at Dallas, Richardson, TX 75080, USA.
authors.forename: Robert D
authors.initials: RD
authors.lastname: Gregg