A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion

DOI10.1115/1.3143833MaRDI QIDQ3758665zbMATH OpenOpenAlexFDO

Authors Junji Furusho, Masami Masubuchi

Publication date 1987

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

Full work available at URL https://doi.org/10.1115/1.3143833

zbMATH Keywords

reduced order modellocal feedbackdominant modesbiped locomotion system

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)

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(10)

• Neural network robotic control for a reduced order position/force model
• Intelligent locomotion control on sloping surfaces
• Control method of biped locomotion giving asymptotic stability of trajectory
• Chaos: From theory to applications for the 80th birthday of Otto E. Rössler
• Implementation of modified chaotic invasive weed optimization algorithm for optimizing the PID controller of the biped robot
• Further studies of human locomotion: postural stability and control
• Control of a Dynamical Biped Locomotion System for Steady Walking
• Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations
• Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
• Inverse kinematics and inverse dynamics for control of a biped walking machine

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