Stable biped locomotion using improved Proportional Derivative Controller

In this paper, we propose a modified version of the standard proportional-derivative (PD) controller for biped locomotion. Our improvements stabilize the biped for high gain PD controllers. The main idea of our approach involves applying corrective component to the existing framework, so that it prevents overshooting at high gains to stabilize the biped. We use pose control graphs to represent various gaits for the biped. We demonstrate with our improvements that the biped controller is stable while walking on irregular terrains. We also demonstrate that our formulation provides additional stability to the biped under minor impediments while in motion.