The challenge for legged robots, especially bipeds, is to maintain postural stability while walking around, whatever the state of the surface the robot is walking on. A possible overall control structure required to steer a biped is shown in schematic overview, depicting several essential control blocks (figure 3.1). A task manager commands the robot to execute a particular task at a specific moment. Depending on the current global robot position and information about its direct environment, a gait planner produces specific objectives for the global robot motion. According to these objectives, while taking into account the biped’s configuration, a joint trajectory generator calculates desired trajectories for each joint of the robot.


Ground Reaction Force Humanoid Robot Inverted Pendulum Support Phase Trajectory Generator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Bram Vanderborght

    There are no affiliations available

    Personalised recommendations