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This paper discussed nonlinear adaptive control of a 6 DOF biped robot. The studied robot was divided to three part, fix leg, moving leg and a torso and all the joints were considered rotational. Generally, for calculations, robots are considered as a whole which makes the related calculations complex. For balance calculations, the zero moment point (ZMP) was either considered as a fix point on the ground or a moving point on the foot plate. In the presented robot in this study with priority of movements, first, the calculations were carried out on the moving foot, then the effect of the motion on the foot was inspected and a pendulum was used to balance the robot. To check the balance, ZMP in the simulation in MATLAB software was considered as a fix point While in Adams software simulation, ZMP was considered moving along the bottom of the sole. All the charts active with both software met each other. In the presented study the inverse kinematics was calculated by trigonometric method and inverse dynamics of each leg was investigated by Newton-Euler iterative method. All calculations were carried out in MATLAB software and were verified by ADAMS software. By writing the equilibrium equations, the angle of torso at each time was achieved. In the next step, because of uncertainties in manufacturing and some parameters like mass, length, etc. adaptive computed torque control was used on each leg to achieve the maximum torque that each joint needs for stable walking.

Keywords: Biped robot, kinematics, dynamics, adaptive computed torque control

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