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


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
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