Trajectory planning and control of a 3-link biped robot

Abstract

Trajectory planning methods and control algorithms for a three-link biped robot are proposed. Based on the observation of the motions of human beings, trajectory planning methods are proposed without neglecting the nonlinear terms of the biped dynamics. A combination of several well-developed control methods is used to control the biped. Comparisons are made of the path tracking performance and torque consumption of these control algorithms.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>