A control study of a kneeless biped locomotion system (Q1329233)

This paper considers a control study on a three-degree-of-freedom biped locomotion system based on the dynamics of the walking gait and joint trajectories, a standard adaptive inverse dynamics control scheme consisting of a control law and an adaptation law is applied. The obtained results show that the tracking errors can be improved with the parameters associated with the adaptation law property chosen, and the performance is also robust despite relatively large deviations in the initial parameter estimates.