This paper addresses time-invariant gait planning and finite-time nonlinear control strategy for a five-link , four-actuator planar biped robot to realize dynamic walking .
The paper described the control of behavior posture and biped gait of the biped robots and its plan in details comparatively , and pointed out the next research direction is bow to control the biped robots walk in complicated condition and on unshaped ground surface steadily arid lustily .