Robust nonlinear control of dynamically balanced humanoid robot walk synthesized by motion primitives

This paper deals with the problem of synthesis of bipedal walking and motion control of the robot having in mind requirements for the motion in unstructured environment such as living and working environment of man. The walk is synthesized by combining and tying basic parameterized movements, called motion primitives. To enable on-line modification of synthesized walk the relationship is established between the overall parameters of walk and parameters of the motion primitives. Besides the need for online modifiable walk, it is also inevitable for robot to deal with ever present external disturbances. Therefore, in this paper robust nonlinear control law is proposed which consists of feedback linearization and sliding mode.