Simple experiment of an actuated walking in a biped robot

The aim of this work is to show a straightforward implementation of a very simple nonlinear control method on the small biped robot. The kinematic model is derived using basic Lie groups theory and the dynamic model is calculated by a recursive Newton-Euler algorithm. The model is considered at all times fully-actuated and a single forward step is simulated based on several key postures. The resulting motion is at first duplicated on the hardware using kinematic control, then the same procedure is repeated in real-time directly using the robot, with torque control enabled. Due to the poor results in the second case, a slight modification to the control method is proposed.