A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant ground

This paper deals with design and implementation of a control architecture for 3D dynamic walking with foot/ground compliant contact. This architecture includes a ZMP-based pattern generator, a computed torque controller based on the reduced order dynamics of the system, and a stabilizer to enhance the stability robustness of the control architecture. The effectiveness of the proposed control architecture is shown through numerical simulations.