Control of a biped locomotion system in a double support phase
- 1 April 1985
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 3 (2) , 73-77
- https://doi.org/10.1017/s0263574700001740
Abstract
This paper considers theoretically and experimentally the control problem of the biped locomotion system on the double support phase. The motion on the double support phase is described by the constrained dynamic system with two static constraints. The reduced order equations are derived by eliminating Lagrange's multiplier from the constrained equations, and a control algorithm for stabilizing the motion is obtained in reduced space. Finally, this algorithm is applied to an actual robot constructed in our laboratory and its usefulness is shown.Keywords
This publication has 1 reference indexed in Scilit:
- Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal planeIEEE Transactions on Automatic Control, 1979