Abstract

GONZALEZ MEJIA, Sergey; RAMIREZ SCARPETTA, José Miguel  and  AVELLA RODRIGUEZ, Edna Joydeth. Control techniques for the balance of a robot biped: a state of the art. Tecnura [online]. 2015, vol.19, n.43, pp.139-162. ISSN 0123-921X.  https://doi.org/10.14483/udistrital.jour.tecnura.2015.1.a010.

There are different control techniques due to the inherent instability that bipedal robots have. The purpose of this paper is to present a descriptive review of some control techniques for static and dynamic balance; also, to check algorithms to generate gait patterns developed in bipedal robotics. The article also contains a brief glossary of bipedal locomotion. The control techniques described in this paper are based on the control theory from dynamical models of biped robots.

Keywords : Dynamic equilibrium; locomotion; anatomical planes.

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