A controller for the dynamic walk of a biped across variable terrain

A set of independent controllers was used to control the dynamic walk of a biped. The planar model used had 11 links and 13 degrees of freedom. The most important controller was that used to control the stance leg. A state-space control table was calculated for this purpose. This lookup table contains an optimal control solution over a predefined region of state space and was calculated using dynamic programming. A series of control tables was generated corresponding to various slopes of terrain. Linear interpolation between control tables was used to generate the desired control for any arbitrary slope. The control scheme is shown to be capable of generating the internal torques necessary to make the biped model walk across smoothly varying terrain as well as climb up stairs