Control of a Dynamical Biped Locomotion System for Steady Walking

DOI10.1115/1.3143752zbMath0591.93002OpenAlexW2000680346MaRDI QIDQ3720363

Junji Furusho, Masami Masubuchi

Publication date: 1986

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

Full work available at URL: https://doi.org/10.1115/1.3143752

zbMATH Keywords

reduced order modelhierarchical control structurelocal feedbackdynamic biped locomotion robotstability of steady walking

Mathematics Subject Classification ID

Hierarchical systems (93A13) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15) Stability of control systems (93D99)

Related Items (7)

Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase ⋮ Simultaneous design of optimal gait pattern and controller for a bipedal robot ⋮ Methodology for Zero-moment Point Experimental Modeling in the Frequency Domain ⋮ GAIT SYNTHESIS BASED ON FWN FOR A FIVE-LINK BIPED ROBOT ⋮ Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion ⋮ Intelligent locomotion control on sloping surfaces ⋮ Modelling and control of a walking four link robot.

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