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stepping with left foot

stepping with right foot

t

With suitable parameter choices, the control algorithm is able to generate stable walking limit

cycles whose open loop motion is described by the base PCG.

Appropriate parameter choices are crucial for successful control.

The next few sections describe

each component of the control system for a walking biped.

parameters will be described as they are introduced.

The process of choosing various

3. 4

Nominal Open-loop Control, U^nom

A base PCG provides the nominal open-loop control for the periodic motion of the biped.

In the

case of a forward walk, the base PCG consists of a sequence of poses to generate a forward step

with one leg followed by a forward step with the other leg.

The base PCG for walking must

generate motion that is initially close to attaining a balanced walk when used without additional