Mathematical Modeling of Three-Link Bipedal Robot

Miral P. Shah, Ashish R. Patel

Abstract: Modeling of biped robot is one of the important issues to be discussed before deciding the control technique for the stable walking of the biped. This paper includes the insight of mathematical modeling of three link biped robot along with different control techniques employed to the same. That can help to design suitable control law for stable walking of the same.

Keywords: Modeling, hypotheses, point foot robot, Three-link biped