Motion Control of a Biped Locomotion Machine using Reaction Wheels

Abstract

This paper deals with motion control of a biped locomotion machine. The system uses reaction wheels as torquers. The wheels generate the control torques without interacting with the gravitational field, and this, in turn, simplifies the calculation of the inverse dynamics. In this paper, some strategies for motion control of the system are developed based on inverse kinematics and inverse dynamics and verified by numerical simulations.