Modeling and real-time motion control of a 4-dof planar parallelogram-link biped mechanism

This paper introduces a novel 4-dof planar biped robot, with screw-driven parallelogram links, that has been designed and built at the Mechatronics and Control Laboratory of the Instituto Tecnológico de la Laguna. After describing its kinematic and dynamic models, we explain the application of two motion-control schemes for the prototype. Even though both controllers have a similar structure, they are implemented differently at the joint servoactuator level. The hardware and software platform for real-time motion control is presented, and experimental results are included in order to evaluate the performance of these controllers during the tracking of a desired motion profile.