A Control Theoretic Study on Dynamical Biped Locomotion

DOI10.1115/1.3149608MaRDI QIDQ3926403zbMATH OpenOpenAlexFDO

Authors Fumio Miyazaki, Suguru Arimoto

Publication date 1980

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3149608

zbMATH Keywords

computer simulationcontrol algorithmdynamical biped locomotionfast modesingular perturbation techniqueslow mode

Mathematics Subject Classification ID

Singular perturbations of ordinary differential equations (34D15) Decomposition methods (49M27) Free motion of a rigid body (70E15) Large-scale systems (93A15)

Cited in

(3)

• Initiation of walk and tiptoe of a planar nine-link biped
• Inverse kinematics and inverse dynamics for control of a biped walking machine
• Stable underactuated biped locomotion on various geometrical surfaces

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