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In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint for increasing stability of the walk. This method could be easily implemented in real time because it needs acceptable calculation...
This paper addresses the controller design of dynamic walking on the spot and describes the experimental approach in a 5-DOF under-actuated planar biped robot. The angle and the angular velocity of the robot with respect to the ground were measured at a specific time, and the next landing position of a swing leg was controlled for the dynamically stable walking on the spot. The next landing position...
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