Adaptive control for a biped locomotion system

In this paper, an adaptive control scheme is used to control a three-link biped locomotion. The control law is based on the well known computed torque method, and the adaptation law uses the tracking error to determine the parameter estimates for the control law. We conducted extensive computer simulations to evaluate the biped locomotion control by varying the initial parameter estimates, by adding a dead zone operation for adaptation, and by changing the system parameters. Simulation results show that the tracking errors are acceptably small and the performance is also robust despite large deviations in the initial parameter estimates