Trajectory planning and control for a five-degree-of-freedom biped locomotion system

In this paper, a study on a five-degree-of-freedom biped locomotion system is performed. The angles of the hip and knee joints for the biped walking gait were generated. Based on the dynamic model and joint trajectories of the walking gait, an adaptive inverse dynamics control scheme consisting of a control law and an adaptation law was used to control the biped motion. To improve the convergence of the estimated parameters, we modify the timing of applying the adaptation by incorporating a dead zone operation. Our simulation results show that the adaptive control technique can be effectively used for the biped locomotion system.