Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control

Table 1

Physical parameters of the bipedal robot.

Bipedal parts	Moments of inertia (kgm^2)	Lengths (m)	Masses (kg)
Foot	0.016	0.3	2
Shank	0.06	0.45	3.6
Thigh	0.06	0.45	3.7
Trunk	0.145	0.45	10