Modelling and control of a walking four link robot

This work deals with the modelling of the planar motion of a walking four link robot as described in Figure 1. The system is composed of four links, a mass mO attached to the joint at r2, and a kind of a “shoe” plate that is attached at the joints of each of the points r0 and r4. These plates are used to maintain the lateral balance and to help to induce torques at these points. The role of this articulated system is to imitate a walking biped robot. In this work, we confine the discussion to the modelling and control of one step.