A three decomposition control algorithm for controlling biped walking with dynamic balance

One of the challenging research issues in controlling 3D biped walking is how to control it keep balance when suffering an unexpected disturbed. This paper describes a three decomposition control algorithm for controlling 3D biped walking with dynamic balance. In our algorithm, the swing leg angle is associated with walking velocity. when the biped suffering an unexpected disturb, the walking velocity will change, and the swing leg will change corresponding by control which makes the biped is supported again when the swing leg touchdown. Our control algorithm is test by simulation, the biped can be pushed out of place but doesn´t fall down by a big thrust. Simulation results show that the simple decomposition control algorithm is effective.