Inverted pendulum-like pattern of a 5-link biped robot

The motivation for this work is to synthesize a walking pattern for a 5-link planar biped on an even floor with consideration of various objectives such as satisfying a frictional constraint, balancing itself, reducing the impact effect, and consuming less energy. Under more physically feasible walking patterns, the walking capability of the biped is expected to be largely improved and easily be implemented in a real biped prototype, which is now being built. The biped's motion control system consists of a tracking control of the planned inverted pendulum-like trajectory, and a positioning control at the end of the cycle period, if necessary. The effectiveness of the proposed methods is verified using computer simulation.