Actuated Dynamic Walking in Biped Robots: Control Approach, Robot Design, and Experimental Validation

D. J. Braun; J. E. Mitchell; M. Goldfarb

doi:10.1109/ICHR.2009.5379573

Publications

Actuated Dynamic Walking in Biped Robots: Control Approach, Robot Design, and Experimental Validation

D. J. Braun, J. E. Mitchell and M. Goldfarb

IEEE-RAS International Conference on Humanoid Robots, pp. 237–242, 2009

DOI

@inproceedings{Braun2009aconf,
  author    = {D. J. Braun and J. E. Mitchell and M. Goldfarb},
  title     = {Actuated Dynamic Walking in Biped Robots: Control Approach, Robot Design, and Experimental Validation},
  booktitle = IEEEhu,
  pages     = {237--242},
  address   = {Paris, France},
  month     = {Dec},
  year      = {2009},
  doi       = {10.1109/ICHR.2009.5379573}
}

This paper presents and experimentally validates a control strategy for actuated dynamic walking in biped robots. Instead of relying on trajectory tracking, the method applies state-dependent torques generated by low-gain spring-damper elements to encourage natural, patterned motion. A seven-link biped robot with backdrivable actuators was designed to allow passive leg motion, enabling human-like gait. Experimental results confirm that the approach produces stable and natural dynamic walking.

Why it matters: Achieving efficient, human-like walking in robots requires moving beyond rigid trajectory tracking. This work demonstrates both the theory and experimental validation of a control approach that leverages natural dynamics, laying the groundwork for more agile and energy-efficient humanoid robots.