Affiliation:
1. Department of Mechanical Engineering, Osaka University, Toyonaka, Osaka, 560 Japan
Abstract
The dynamics of the biped locomotion system with many degrees of freedom are analyzed from a control theoretic point of view. By the use of the singular perturbation technique, it is shown that biped locomotion can be divided into two modes with respective time scales, the fast mode and the slow mode. Based on this fact, a control system for dynamical biped locomotion is constructed. The effectiveness of the proposed control algorithm is verified using computer simulation.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
57 articles.
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