Analysis and Control of Biped Robots

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IRCCyN UMR C.N.R.S 6597, 1
rue de la Noé

**BP 92101, 44321
Nantes Cedex 3, **

**France **

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The control of an underactuated biped robots in single support phase can be done choosing a certain number of output functions, which are dependent on the state variables, i.e. on angular positions and velocities; the choice of these output functions is usually better if they yield a minimum phase system. In the paper some examples are discussed. It is suggested that the underlying mathematical problem states and solves the problem in a concise manner. The outline of the seminar includes:

- The example of a two body robot (two legs without knees)
- The case of a five link robot (two legs with knees and a trunk)
- The mathematical tool provided by the Pfaff-Darboux Theorem.

The talk includes a description of projects on walking
robots in France and at IRCCyN in Nantes.

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**Friday, September 28, 2001**

**3:30 - 5:00 p.m.**