Feedback control of a simple walking model driven by an oscillator

This paper deals with the walking motion of a biped robot based on a simple model driven by a rhythmic signal from an oscillator. We propose a feedback controller that intermittently modulates the rhythmic signal by using touch sensor signals. We analytically examine the dynamic properties and the performance of the feedback controller based on an approximate analysis using a Poincare map. The analytical results reveal that although the feedback controller doesn´t change the stability region, it does improve the stability of the walking motion