Control of a kneeless biped through gain scheduling

This paper focuses on feasibility study of applying a state feedback gain scheduling technique to the control of a kneeless biped. Based on the linearized biped model around chosen operating points, a state feedback is used to partially decouple the body motion from the leg motions. The feedback gains found at these operating points are then interpolated to obtain gains between operating points not previously selected. Finally, a global feedback gain which varies with a scheduling parameter is used for the control of the biped. A preliminary simulation study is also given