Framework for whole-body control of a planar biped during different support phases

The goal of this paper is to prepare a framework for working with a planar biped robot model during different support phases. An approach to modelling and control of a biped model with feet and arms is presented. Partial feedback linearisation is used as a standard control method that moves the robot between key positions using trajectories calculated by the means of the differential inverse kinematics. The assumption is made that all the points are able to come in contact with the ground or other surfaces, so both underactuated and overactuated support phases have to be considered.