Abstract

This article presents the limit-cycle walking of a three-link biped robot consisting of a torso, two knee-locked legs, and point feet. The robot has three degrees of freedom, with its actuated hip joints and unactuated toe joints. The study proposes a PD feedback controller based on trajectory optimization, which is derived mathematically from Lyapunov analysis. The controller parameters are optimized using a genetic algorithm. The paper also tests the robustness of the model by applying external disturbances and shows that the Proportional Derivative controller enhances the robot's robustness, even in the presence of significant external disturbances.