Control of a Dynamical Biped Locomotion System for Steady Walking

[+] Author and Article Information
J. Furusho

Department of Precision Machinery, Gifu University, Yanagido, Gifu, 501-11, Japan

M. Masubuchi

Department of Mechanical Engineering, Osaka University, Yamadaoka, Suita, Osaka 565, Japan

J. Dyn. Sys., Meas., Control 108(2), 111-118 (Jun 01, 1986) (8 pages) doi:10.1115/1.3143752 History: Received February 06, 1986; Online July 21, 2009


A dynamic biped locomotion robot which realizes high speed movement is presented. Its walking cycle is about 0.45 s, its speed is about 0.8m/s, and its appearance resembles a human walking. A hierarchical control structure is adopted at the lower level at which the local feedback is implemented. The reference signal to each local controller is supplied from its higher level. The stability of steady walking is examined by using the reduced order model which has been derived by the authors and it is assured by experiments.

Copyright © 1986 by ASME
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