Affiliations: Laboratoire de Mécanique des Solides, UMR No. 6610 CNRS, Université de Poitiers, BP 30179, 86962 Futuroscope Chasseneuil Cedex, France
Note:  Corresponding Author: Prof. J. Rojas-Estrada, Laboratoire de Mécanique des Solides, UMR No. 6610 CNRS, Université de Poitiers, BP 30179, 86962 Futuroscope Chasseneuil Cedex, France. Fax:+52 81 8367 8834, Email: [email protected] Professor with the Instituto Tecnológico de Nuevo León, during a stay as invited researcher at Laboratoire de Mécanique des Solides.
Abstract: In this work we address the control problem of biped robots by using the task function approach. A problem arrives when one of the feet is in contact with the ground, which presents imperfections. There is then the possibility that the biped robot undergoes a fall. It is difficult to track any trajectory due to the presence of unevenness on the ground. What we propose is to use the task function approach combined with the application of the total rate of angular momentum to obtain a control law for the ankle. By this technique, the tracking becomes more smooth and the balance is assured. The control law proposed allows the upper part of the robot to be controlled independently since only the ankle actuators are concerned. We enounce the formal problem and present some simulations with real parameters of a 21 degrees of freedom biped robot.
Keywords: Biped robot, dynamic walking, angular momentum, zero moment point, task function