Development Of a Control System For a 2D Biped Walking Robotic Testbed

Abstract

Due to the great potential promise of bipedal walking robots, it was determined that the Jaywalker, a first generation bipedal walking testbed, should be designed and built as a platform for the study of bipedal walking over rough terrain and as a testbed for the research and development of the components necessary to develop a bipedal walking robot and for use in research beneficial to humanity that the testbed could facilitate. The Jaywalker adopts an approach of attempting to integrate the best of the ZMP bipedal walking robots characteristics with the best characteristics of the dynamic walkers and the basis for a control system capable of handling the distributed multiple inputs and multiple outputs necessary for an advanced bipedal walking robotic in a modular and easily updatable way.