Optimal tracking control of a biped robot walking in the lateral plane

Many researchers have been focused on the walking of the biped robots in the sagittal plane. However, biped robots are expected to have the capability to step merely laterally, in confronting the obstacles such as a wall. This paper presents an optimal control method for three link planer model of a biped robot that steps purely in the lateral plane. Desired walking trajectory is generated base on third-order spline. After linearization, the Differential Riccati Equation (DRE) and Vector Differential Equation are derived to solve the optimal control (LQT) problem. The simulations have been done to demonstrate the method and aim for interesting future developments.