Biped walking control using a trajectory library

Chenggang Liua1 c1, Christopher G. Atkesona2 and Jianbo Sua1

a1 Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China

a2 Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA


This paper presents biped walking control using a library of optimal trajectories. Biped walking control is formulated as an optimal control problem. We use a parametric trajectory optimization method to find the periodic steady-state walking trajectory. As a second stage, we use Differential Dynamic Programming to generate a library of optimal trajectories and locally linear models of the optimal control law, which are used to construct a more global control law. The proposed controller is compared with a trajectory tracking controller using optimal gains. The utility and performance of the proposed method are evaluated using simulated walking control of a planar five-link biped robot.

(Accepted April 13 2012)

(Online publication May 25 2012)


  • Trajectory optimization;
  • Trajectory library;
  • Robot control


c1 Corresponding author. E-mail: