Walking control using phase plane of a hydraulic biped humanoid robot

Dongil Choi, Jung Hoon Kim, Jung Yup Kim

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

Original languageEnglish
Pages (from-to)269-276
Number of pages8
JournalJournal of Institute of Control, Robotics and Systems
Issue number3
Publication statusPublished - 2011 Mar

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Applied Mathematics


Dive into the research topics of 'Walking control using phase plane of a hydraulic biped humanoid robot'. Together they form a unique fingerprint.

Cite this