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Stability Control in an Actively-Balanced Bipedal Robot

The problem of actively stable bipedal walking on small feet continues to challenge robotic engineers, controller designers,and machine learning theorists. Preliminary results with a real 10-link biped, TarBaby, are presented. This machine is designed to test new ideas in bipedal locomotion, including online tuning of key settings in a dynamic motion generator and ultimately automatic expansion of the machine's envelope of stability by systematic motion exercises.