Dynamic controller of BIPMAN

This paper presents the biped robot called BIPMAN (for BIomechanical Pneumatic MAN) we have built to be a testbed of all our theoretical works we have developed since 1996. This robot owns pneumatic actuation for each joint ensuring soft contact motions. The mechanical and electronical design are entirely displayed and the main principles to control the structure are presented. We then focuse our attention on the pneumatic impedance controller design based on the mathematical model of one chain representing one limb. The controller is inspired from the computed torque and impedance methods with the aim to demonstrate the asymptotic stability using the passivity theory. Experimental results on the standing posture under perturbation are then presented showing BIPMAN standing still and retrieving its initial position when perturbed. The experimental protocol is described and performances demonstrate the efficiency of principles previously developed.