0
RESEARCH PAPERS

A Control Theoretic Study on Dynamical Biped Locomotion

[+] Author and Article Information
Fumio Miyazaki, Suguru Arimoto

Department of Mechanical Engineering, Osaka University, Toyonaka, Osaka, 560 Japan

J. Dyn. Sys., Meas., Control 102(4), 233-239 (Dec 01, 1980) (7 pages) doi:10.1115/1.3149608 History: Received August 14, 1980; Online July 21, 2009

Abstract

The dynamics of the biped locomotion system with many degrees of freedom are analyzed from a control theoretic point of view. By the use of the singular perturbation technique, it is shown that biped locomotion can be divided into two modes with respective time scales, the fast mode and the slow mode. Based on this fact, a control system for dynamical biped locomotion is constructed. The effectiveness of the proposed control algorithm is verified using computer simulation.

Copyright © 1980 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In