Recursive workspace control of multibody systems: a planar biped example

This paper presents a method of controlling multibody systems using a recursive formulation of workspace control. Using recursive multibody dynamics techniques, we generate the model for a workspace controller avoiding the need to symbolically create the complex equations of motion. The workspace controller is then applied to make a planar biped balance. The paper first describes the biped model and then presents the recursive workspace controller. Finally, the paper presents the results of a simulation in which the controller commands the biped to lower to a standing position