Walking Without Impacts as a Motion/Force Control Problem

[+] Author and Article Information
W. Blajer, W. Schiehlen

Institute B of Mechanics, University of Stuttgart, 7000 Stuttgart 80, Germany

J. Dyn. Sys., Meas., Control 114(4), 660-665 (Dec 01, 1992) (6 pages) doi:10.1115/1.2897738 History: Received March 01, 1991; Revised April 01, 1992; Online March 17, 2008


The paper deals with the synthesis of control for impactless bipedal walking. In order to avoid impacts, both the specified motion of the biped and its ground reactions are controlled, yielding a combined motion and force control problem. A method for modeling and solving such problems is proposed, and then illustrated by the example of an impactless planar walk of a seven-link bipedal robot. Some numerical results of the motion simulation are reported.

Copyright © 1992 by The American Society of Mechanical Engineers
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