Joint Control of a Bipedal Walking Robot

Abstract

This paper presents the results of a low level control scheme implemented on an experimental biped. Conventional, independent controllers are used in control of the response when for from the target position, with control switching to a P+I controller close to the target position. In addition, there is an offset added to the controller output which we have termed the region gain. The region gain and the integral term were introduced to combat the disturbance due to gravity, a heightened problem in the control of a biped's legs, which make normal manipulator control schemes inadequate.