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Biped Locomotion

Dynamic approaches to the control of biped locomotion

The goal of this effort is to develop a control approach for bipedal locomotion utilizing dynamic walking principles. The proposed controller is tailored to exploit the dynamics of the biped robot and to provide, cyclic interaction of the legs with the environment. While exploitation of the natural dynamics results in energy efficiency, as expected, the cyclic interaction between the body and the environment is proven to contribute to an overall stability and robustness of the walking cycle. The controller has been tested on computer simulation. It has been implemented and experimentally demonstrated on a 7 link planar biped robot.

In order to design and validate the gait controller, a custom simulation environment was developed under the same project. This tool was important to predict the controlled motion of the biped.



  • Actuated Dynamic Walking in a Seven-link Biped Robot, D. J. Braun, J. E. Mitchell, and M. Goldfarb, IEEE Transactions on Mechatronics, vol. 17, no. 1, pp. 147-156, 2012. IEEE Xplore
  • A Control Approach for Actuated Dynamics Walking in Biped Robots, D. J. Braun and M. Goldfarb, IEEE Transactions on Robotics, vol. 25, no. 6, pp. 1292-1303, 2009. IEEE Xplore
  • Actuated Dynamic Walking in Biped Robots: Control Approach, Robot Design and Experimental Validation, D. J. Braun, J. E. Mitchell, and M. Goldfarb, IEEE-RAS International Conference on Humanoid Robots, pp. 237-242, December 2009. IEEE Xplore
  • A Controller for Dynamic Walking in Bipedal Robots, D. J. Braun and M. Goldfarb, IEEE-RSJ International Conference on Intelligent Robots and Systems, pp. 2916-2921, October 2009. IEEE Xplore