A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot

This paper deals with a discret-time control approach, proposed for the control of a five-link, four-actuator planar biped walker. The approach is based on the choice of a particular class of walk configurations that enables a full state controllability avoiding the need to use Poincare-like argumentation in the proof of motion´s reproducibility (stability of limit cycles). Simulation results attest the efficiency of the proposed control approach.