Gait control of biped robot based on kinematics and motion description in Cartesian space

This paper proposes a new simple 3-D (three dimension) dynamic gait control scheme for a walking biped robot based on kinematics calculation and robust joint solution control. The 3-D dynamic gait motion of the biped robot is approximated to the inverted pendulums for the sagittal plane and lateral plane in Cartesian space. Using the kinematics calculation of biped robots and the robust joint position controller of each joint, both the top positions of the supporting leg and floating leg track each position reference robustly. Experimental results of the tested ten-joints biped robot confirm that the proposed method realizes 3-D dynamic gait control stably