Abstract

This paper presents a robust biped dynamic walker based on the virtual slope, which introduces the driving force in the walking direction. Virtual passive dynamic walker as a reference model is used to develop the feedback controller based on the relation between the step length and the virtual slope of the walker. A numerical solution is prescribed to obtain the local and global stability of the biped dynamic walker. The Poincare map and the basin of attraction plots have been used for stability analysis. A fifth-order curve fitting polynomial function is used to set the relation between step length and slope. A proportional feedback controller is used to correct the error at the transition state.